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Merge remote-tracking branch 'upstream/master'

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This commit is contained in:
Trent Lukaczyk
2015-02-05 20:19:04 -08:00
parent 6798aee13a 7e6198b3dd
commit 531eaa2314
215 changed files with 10958 additions and 2458 deletions
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.gitignore
+5
View File
@@ -17,6 +17,7 @@
.~lock.*
Archives/*
Build/*
build/*
core
cscope.out
Firmware.sublime-workspace
@@ -38,6 +39,10 @@ tags
.pydevproject
.ropeproject
*.orig
src/modules/uORB/topics/*
src/platforms/nuttx/px4_messages/*
src/platforms/ros/px4_messages/*
Firmware.zip
unittests/build
*.generated.h
.vagrant
.gitmodules
+6
View File
@@ -7,6 +7,12 @@
[submodule "uavcan"]
path = src/lib/uavcan
url = git://github.com/pavel-kirienko/uavcan.git
[submodule "Tools/genmsg"]
path = Tools/genmsg
url = https://github.com/ros/genmsg.git
[submodule "Tools/gencpp"]
path = Tools/gencpp
url = https://github.com/ros/gencpp.git
[submodule "unittests/gtest"]
path = unittests/gtest
url = https://github.com/sjwilks/gtest.git
.travis.yml
+1 -1
View File
@@ -12,7 +12,7 @@ before_script:
- sudo apt-get install s3cmd grep zip mailutils
# General toolchain dependencies
- sudo apt-get install libc6:i386 libgcc1:i386 gcc-4.6-base:i386 libstdc++5:i386 libstdc++6:i386
- sudo apt-get install python-serial python-argparse
- sudo apt-get install python-serial python-argparse python-empy
- sudo apt-get install flex bison libncurses5-dev autoconf texinfo build-essential libtool zlib1g-dev genromfs git wget cmake
- pushd .
- cd ~
CMakeLists.txt
+289
View File
@@ -0,0 +1,289 @@
cmake_minimum_required(VERSION 2.8.3)
project(px4)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
add_definitions(-D__PX4_ROS)
add_definitions(-D__EXPORT=)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
cmake_modules
gazebo_msgs
sensor_msgs
mav_msgs
)
find_package(Eigen REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependencies might have been
## pulled in transitively but can be declared for certainty nonetheless:
## * add a build_depend tag for "message_generation"
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
rc_channels.msg
vehicle_attitude.msg
vehicle_attitude_setpoint.msg
manual_control_setpoint.msg
actuator_controls.msg
actuator_controls_0.msg
actuator_controls_virtual_mc.msg
vehicle_rates_setpoint.msg
mc_virtual_rates_setpoint.msg
vehicle_attitude.msg
vehicle_control_mode.msg
actuator_armed.msg
parameter_update.msg
vehicle_status.msg
vehicle_local_position.msg
position_setpoint.msg
position_setpoint_triplet.msg
vehicle_local_position_setpoint.msg
vehicle_global_velocity_setpoint.msg
)
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
gazebo_msgs
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS src/include
LIBRARIES px4
CATKIN_DEPENDS message_runtime roscpp rospy std_msgs
DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
${catkin_INCLUDE_DIRS}
src/platforms
src/platforms/ros/px4_messages
src/include
src/modules
src/
src/lib
${EIGEN_INCLUDE_DIRS}
)
## generate multiplatform wrapper headers
## note that the message header files are generated as in any ROS project with generate_messages()
set(MULTIPLATFORM_HEADER_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src/platforms/ros/px4_messages)
set(MULTIPLATFORM_TEMPLATE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg/templates/px4/ros)
set(TOPICHEADER_TEMP_DIR ${CMAKE_BINARY_DIR}/topics_temporary)
set(MULTIPLATFORM_PREFIX px4_)
add_custom_target(multiplatform_message_headers ALL ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/Tools/px_generate_uorb_topic_headers.py
-d ${CMAKE_CURRENT_SOURCE_DIR}/msg -o ${MULTIPLATFORM_HEADER_DIR} -e ${MULTIPLATFORM_TEMPLATE_DIR}
-t ${TOPICHEADER_TEMP_DIR} -p ${MULTIPLATFORM_PREFIX})
## Declare a cpp library
add_library(px4
src/platforms/ros/px4_ros_impl.cpp
src/platforms/ros/perf_counter.cpp
src/platforms/ros/geo.cpp
src/lib/mathlib/math/Limits.cpp
src/modules/systemlib/circuit_breaker.cpp
)
add_dependencies(px4 ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(px4
${catkin_LIBRARIES}
)
## Declare a test publisher
add_executable(publisher
src/examples/publisher/publisher_main.cpp
src/examples/publisher/publisher_example.cpp)
add_dependencies(publisher ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(publisher
${catkin_LIBRARIES}
px4
)
## Declare a test subscriber
add_executable(subscriber
src/examples/subscriber/subscriber_main.cpp
src/examples/subscriber/subscriber_example.cpp)
add_dependencies(subscriber ${PROJECT_NAME}_generate_messages_cpp multiplatform_message_headers)
target_link_libraries(subscriber
${catkin_LIBRARIES}
px4
)
## MC Attitude Control
add_executable(mc_att_control
src/modules/mc_att_control_multiplatform/mc_att_control_main.cpp
src/modules/mc_att_control_multiplatform/mc_att_control.cpp
src/modules/mc_att_control_multiplatform/mc_att_control_base.cpp)
add_dependencies(mc_att_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_att_control
${catkin_LIBRARIES}
px4
)
## MC Position Control
add_executable(mc_pos_control
src/modules/mc_pos_control_multiplatform/mc_pos_control_main.cpp
src/modules/mc_pos_control_multiplatform/mc_pos_control.cpp)
add_dependencies(mc_pos_control ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_pos_control
${catkin_LIBRARIES}
px4
)
## Attitude Estimator dummy
add_executable(attitude_estimator
src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp)
add_dependencies(attitude_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(attitude_estimator
${catkin_LIBRARIES}
px4
)
## Position Estimator dummy
add_executable(position_estimator
src/platforms/ros/nodes/position_estimator/position_estimator.cpp)
add_dependencies(position_estimator ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(position_estimator
${catkin_LIBRARIES}
px4
)
## Manual input
add_executable(manual_input
src/platforms/ros/nodes/manual_input/manual_input.cpp)
add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(manual_input
${catkin_LIBRARIES}
px4
)
## Multicopter Mixer dummy
add_executable(mc_mixer
src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp)
add_dependencies(mc_mixer ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(mc_mixer
${catkin_LIBRARIES}
px4
)
## Commander
add_executable(commander
src/platforms/ros/nodes/commander/commander.cpp)
add_dependencies(manual_input ${PROJECT_NAME}_generate_messages_cpp_cpp)
target_link_libraries(commander
${catkin_LIBRARIES}
px4
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_px4test.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
Makefile
+33 -11
View File
@@ -1,5 +1,5 @@
#
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
# Copyright (c) 2012-2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
@@ -104,13 +104,13 @@ DESIRED_FIRMWARES = $(foreach config,$(CONFIGS),$(IMAGE_DIR)$(config).px4)
STAGED_FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(IMAGE_DIR)$(config).px4)
FIRMWARES = $(foreach config,$(KNOWN_CONFIGS),$(BUILD_DIR)$(config).build/firmware.px4)
all: checksubmodules $(DESIRED_FIRMWARES)
all: $(DESIRED_FIRMWARES)
#
# Copy FIRMWARES into the image directory.
#
# XXX copying the .bin files is a hack to work around the PX4IO uploader
# not supporting .px4 files, and it should be deprecated onced that
# XXX copying the .bin files is a hack to work around the PX4IO uploader
# not supporting .px4 files, and it should be deprecated onced that
# is taken care of.
#
$(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
@@ -124,7 +124,7 @@ $(STAGED_FIRMWARES): $(IMAGE_DIR)%.px4: $(BUILD_DIR)%.build/firmware.px4
.PHONY: $(FIRMWARES)
$(BUILD_DIR)%.build/firmware.px4: config = $(patsubst $(BUILD_DIR)%.build/firmware.px4,%,$@)
$(BUILD_DIR)%.build/firmware.px4: work_dir = $(BUILD_DIR)$(config).build/
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4:
$(FIRMWARES): $(BUILD_DIR)%.build/firmware.px4: checksubmodules generateuorbtopicheaders
@$(ECHO) %%%%
@$(ECHO) %%%% Building $(config) in $(work_dir)
@$(ECHO) %%%%
@@ -152,7 +152,7 @@ $(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
# Build the NuttX export archives.
#
# Note that there are no explicit dependencies extended from these
# archives. If NuttX is updated, the user is expected to rebuild the
# archives. If NuttX is updated, the user is expected to rebuild the
# archives/build area manually. Likewise, when the 'archives' target is
# invoked, all archives are always rebuilt.
#
@@ -161,7 +161,7 @@ $(foreach config,$(FMU_CONFIGS),$(eval $(call FMU_DEP,$(config))))
#
NUTTX_ARCHIVES = $(foreach board,$(BOARDS),$(ARCHIVE_DIR)$(board).export)
.PHONY: archives
archives: $(NUTTX_ARCHIVES)
archives: checksubmodules $(NUTTX_ARCHIVES)
# We cannot build these parallel; note that we also force -j1 for the
# sub-make invocations.
@@ -211,8 +211,7 @@ menuconfig:
@$(ECHO) ""
endif
$(NUTTX_SRC):
$(Q) ($(PX4_BASE)/Tools/check_submodules.sh)
$(NUTTX_SRC): checksubmodules
$(UAVCAN_DIR):
$(Q) (./Tools/check_submodules.sh)
@@ -226,6 +225,29 @@ updatesubmodules:
$(Q) (git submodule init)
$(Q) (git submodule update)
MSG_DIR = $(PX4_BASE)msg
UORB_TEMPLATE_DIR = $(PX4_BASE)msg/templates/uorb
MULTIPLATFORM_TEMPLATE_DIR = $(PX4_BASE)msg/templates/px4/uorb
TOPICS_DIR = $(PX4_BASE)src/modules/uORB/topics
MULTIPLATFORM_HEADER_DIR = $(PX4_BASE)src/platforms/nuttx/px4_messages
MULTIPLATFORM_PREFIX = px4_
TOPICHEADER_TEMP_DIR = $(BUILD_DIR)topics_temporary
GENMSG_PYTHONPATH = $(PX4_BASE)Tools/genmsg/src
GENCPP_PYTHONPATH = $(PX4_BASE)Tools/gencpp/src
.PHONY: generateuorbtopicheaders
generateuorbtopicheaders:
@$(ECHO) "Generating uORB topic headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(TOPICS_DIR) -e $(UORB_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR))
@$(ECHO) "Generating multiplatform uORB topic wrapper headers"
$(Q) (PYTHONPATH=$(GENMSG_PYTHONPATH):$(GENCPP_PYTHONPATH):$(PYTHONPATH) $(PYTHON) \
$(PX4_BASE)Tools/px_generate_uorb_topic_headers.py \
-d $(MSG_DIR) -o $(MULTIPLATFORM_HEADER_DIR) -e $(MULTIPLATFORM_TEMPLATE_DIR) -t $(TOPICHEADER_TEMP_DIR) -p $(MULTIPLATFORM_PREFIX))
# clean up temporary files
$(Q) (rm -r $(TOPICHEADER_TEMP_DIR))
#
# Testing targets
#
@@ -237,12 +259,12 @@ testbuild:
# Unittest targets. Builds and runs the host-level
# unit tests.
.PHONY: tests
tests:
tests: generateuorbtopicheaders
$(Q) (mkdir -p $(PX4_BASE)/unittests/build && cd $(PX4_BASE)/unittests/build && cmake .. && $(MAKE) unittests)
#
# Cleanup targets. 'clean' should remove all built products and force
# a complete re-compilation, 'distclean' should remove everything
# a complete re-compilation, 'distclean' should remove everything
# that's generated leaving only files that are in source control.
#
.PHONY: clean
ROMFS/px4fmu_common/init.d/rc.mc_apps
+13 -2
View File
@@ -8,8 +8,19 @@ attitude_estimator_ekf start
#ekf_att_pos_estimator start
position_estimator_inav start
mc_att_control start
mc_pos_control start
if mc_att_control start
then
else
# try the multiplatform version
mc_att_control_m start
fi
if mc_pos_control start
then
else
# try the multiplatform version
mc_pos_control_m start
fi
#
# Start Land Detector
ROMFS/px4fmu_test/init.d/rcS
+9 -5
View File
@@ -2,6 +2,8 @@
#
# PX4FMU startup script for test hackery.
#
set unit_test_failure 0
uorb start
if sercon
@@ -41,6 +43,9 @@ fi
if px4io start
then
echo "PX4IO OK"
else
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} px4io_start"
fi
if px4io checkcrc $io_file
@@ -51,7 +56,6 @@ else
tone_alarm MBABGP
if px4io forceupdate 14662 $io_file
then
usleep 500000
if px4io start
then
echo "PX4IO restart OK"
@@ -59,12 +63,14 @@ else
else
echo "PX4IO restart failed"
tone_alarm MNGGG
sleep 5
reboot
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
fi
else
echo "PX4IO update failed"
tone_alarm MNGGG
set unit_test_failure 1
set unit_test_failure_list "${unit_test_failure_list} px4io_flash"
fi
fi
@@ -81,8 +87,6 @@ fi
# Add new unit tests using the same pattern as below.
#
set unit_test_failure 0
if mavlink_tests
then
else
Tools/check_submodules.sh
+50 -9
View File
@@ -12,17 +12,16 @@ if [ -d NuttX/nuttx ];
if [ -z "$STATUSRETVAL" ]; then
echo "Checked NuttX submodule, correct version found"
else
echo ""
echo ""
echo "New commits required:"
echo "$(git submodule summary)"
echo ""
echo ""
echo " NuttX sub repo not at correct version. Try 'git submodule update'"
echo " or follow instructions on http://pixhawk.org/dev/git/submodules"
echo ""
echo " DO NOT FORGET TO RUN 'make distclean && make archives' AFTER EACH NUTTX UPDATE!"
echo ""
echo ""
echo "New commits required:"
echo "$(git submodule summary)"
echo ""
exit 1
fi
else
@@ -37,15 +36,14 @@ if [ -d mavlink/include/mavlink/v1.0 ];
if [ -z "$STATUSRETVAL" ]; then
echo "Checked mavlink submodule, correct version found"
else
echo ""
echo ""
echo "mavlink sub repo not at correct version. Try 'git submodule update'"
echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
echo ""
echo ""
echo "New commits required:"
echo "$(git submodule summary)"
echo ""
echo ""
echo "mavlink sub repo not at correct version. Try 'git submodule update'"
echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
exit 1
fi
else
@@ -61,15 +59,58 @@ then
then
echo "Checked uavcan submodule, correct version found"
else
echo ""
echo ""
echo "New commits required:"
echo "$(git submodule summary)"
echo ""
echo ""
echo "uavcan sub repo not at correct version. Try 'git submodule update'"
echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
exit 1
fi
else
git submodule init;
git submodule update;
fi
if [ -d Tools/gencpp ]
then
STATUSRETVAL=$(git submodule summary | grep -A20 -i gencpp | grep "<")
if [ -z "$STATUSRETVAL" ]
then
echo "Checked gencpp submodule, correct version found"
else
echo ""
echo ""
echo "New commits required:"
echo "$(git submodule summary)"
echo ""
echo ""
echo "gencpp sub repo not at correct version. Try 'git submodule update'"
echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
exit 1
fi
else
git submodule init;
git submodule update;
fi
if [ -d Tools/genmsg ]
then
STATUSRETVAL=$(git submodule summary | grep -A20 -i genmsg | grep "<")
if [ -z "$STATUSRETVAL" ]
then
echo "Checked genmsg submodule, correct version found"
else
echo ""
echo ""
echo "New commits required:"
echo "$(git submodule summary)"
echo ""
echo ""
echo "genmsg sub repo not at correct version. Try 'git submodule update'"
echo "or follow instructions on http://pixhawk.org/dev/git/submodules"
exit 1
fi
else
Tools/gencpp
Submodule
+1
Submodule Tools/gencpp added at 26a86f04bc
Tools/genmsg
Submodule
+1
Submodule Tools/genmsg added at 72f0383f0e
Tools/px_generate_uorb_topic_headers.py
Executable
+159
View File
@@ -0,0 +1,159 @@
#!/usr/bin/env python
#############################################################################
#
# Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
#############################################################################
"""
px_generate_uorb_topic_headers.py
Generates c/cpp header files for uorb topics from .msg (ROS syntax)
message files
"""
from __future__ import print_function
import os
import shutil
import filecmp
import argparse
import genmsg.template_tools
__author__ = "Thomas Gubler"
__copyright__ = "Copyright (C) 2013-2014 PX4 Development Team."
__license__ = "BSD"
__email__ = "thomasgubler@gmail.com"
msg_template_map = {'msg.h.template': '@NAME@.h'}
srv_template_map = {}
incl_default = ['std_msgs:./msg/std_msgs']
package = 'px4'
def convert_file(filename, outputdir, templatedir, includepath):
"""
Converts a single .msg file to a uorb header
"""
print("Generating headers from {0}".format(filename))
genmsg.template_tools.generate_from_file(filename,
package,
outputdir,
templatedir,
includepath,
msg_template_map,
srv_template_map)
def convert_dir(inputdir, outputdir, templatedir):
"""
Converts all .msg files in inputdir to uORB header files
"""
includepath = incl_default + [':'.join([package, inputdir])]
for f in os.listdir(inputdir):
fn = os.path.join(inputdir, f)
if os.path.isfile(fn):
convert_file(
fn,
outputdir,
templatedir,
includepath)
def copy_changed(inputdir, outputdir, prefix=''):
"""
Copies files from inputdir to outputdir if they don't exist in
ouputdir or if their content changed
"""
# Make sure output directory exists:
if not os.path.isdir(outputdir):
os.makedirs(outputdir)
for f in os.listdir(inputdir):
fni = os.path.join(inputdir, f)
if os.path.isfile(fni):
# Check if f exists in outpoutdir, copy the file if not
fno = os.path.join(outputdir, prefix + f)
if not os.path.isfile(fno):
shutil.copy(fni, fno)
print("{0}: new header file".format(f))
continue
# The file exists in inputdir and outputdir
# only copy if contents do not match
if not filecmp.cmp(fni, fno):
shutil.copy(fni, fno)
print("{0}: updated".format(f))
continue
print("{0}: unchanged".format(f))
def convert_dir_save(inputdir, outputdir, templatedir, temporarydir, prefix):
"""
Converts all .msg files in inputdir to uORB header files
Unchanged existing files are not overwritten.
"""
# Create new headers in temporary output directory
convert_dir(inputdir, temporarydir, templatedir)
# Copy changed headers from temporary dir to output dir
copy_changed(temporarydir, outputdir, prefix)
if __name__ == "__main__":
parser = argparse.ArgumentParser(
description='Convert msg files to uorb headers')
parser.add_argument('-d', dest='dir', help='directory with msg files')
parser.add_argument('-f', dest='file',
help="files to convert (use only without -d)",
nargs="+")
parser.add_argument('-e', dest='templatedir',
help='directory with template files',)
parser.add_argument('-o', dest='outputdir',
help='output directory for header files')
parser.add_argument('-t', dest='temporarydir',
help='temporary directory')
parser.add_argument('-p', dest='prefix', default='',
help='string added as prefix to the output file '
' name when converting directories')
args = parser.parse_args()
if args.file is not None:
for f in args.file:
convert_file(
f,
args.outputdir,
args.templatedir,
incl_default)
elif args.dir is not None:
convert_dir_save(
args.dir,
args.outputdir,
args.templatedir,
args.temporarydir,
args.prefix)
Tools/ros/docker/px4-ros-full/Dockerfile
+57
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@@ -0,0 +1,57 @@
#
# PX4 full ROS container
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
FROM ubuntu:14.04.1
MAINTAINER Andreas Antener <andreas@uaventure.com>
# Install basics
## Use the "noninteractive" debconf frontend
ENV DEBIAN_FRONTEND noninteractive
RUN apt-get update \
&& apt-get -y install wget git mercurial
# Main ROS Setup
# Following http://wiki.ros.org/indigo/Installation/Ubuntu
# Also adding dependencies for gazebo http://gazebosim.org/tutorials?tut=drcsim_install
## add ROS repositories and keys
## install main ROS pacakges
RUN echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list \
&& wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | apt-key add - \
&& apt-get update \
&& apt-get -y install ros-indigo-desktop-full
RUN rosdep init \
&& rosdep update
## setup environment variables
RUN echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
## get rosinstall
RUN apt-get -y install python-rosinstall
## additional dependencies
RUN apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy
## install drcsim
RUN echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list \
&& wget http://packages.osrfoundation.org/drc.key -O - | apt-key add - \
&& apt-get update \
&& apt-get -y install drcsim
# Install x11-utils to get xdpyinfo, for X11 display debugging
# mesa-utils provides glxinfo, handy for understanding the 3D support
RUN apt-get -y install x11-utils mesa-utils
# Some QT-Apps/Gazebo don't not show controls without this
ENV QT_X11_NO_MITSHM 1
# FIXME: this doesn't work when building from vagrant
COPY scripts/setup-workspace.sh /root/scripts/
RUN chmod +x -R /root/scripts/*
RUN chown -R root:root /root/scripts/*
CMD ["/usr/bin/xterm"]
Tools/ros/docker/px4-ros-full/README.md
+12
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@@ -0,0 +1,12 @@
# PX4 ROS #
Full desktop ROS container.
License: according to LICENSE.md in the root directory of the PX4 Firmware repository
**TODO:**
- use https://github.com/phusion/baseimage-docker as base
- add user, best synced with host
- configure ssh to work with vagrant out of the box
Tools/ros/docker/px4-ros-full/scripts/setup-workspace.sh
+45
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@@ -0,0 +1,45 @@
#!/bin/sh
#
# Create workspace at current location and fetch source repositories
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
WDIR=`pwd`
WORKSPACE=$WDIR/catkin_ws
# Setup workspace
mkdir -p $WORKSPACE/src
cd $WORKSPACE/src
catkin_init_workspace
cd $WORKSPACE
catkin_make
echo "source $WORKSPACE/devel/setup.bash" >> ~/.bashrc
# PX4 Firmware
cd $WORKSPACE/src
git clone https://github.com/PX4/Firmware.git \
&& cd Firmware \
&& git checkout ros
# euroc simulator
cd $WORKSPACE/src
git clone https://github.com/PX4/euroc_simulator.git \
&& cd euroc_simulator \
&& git checkout px4_nodes
# mav comm
cd $WORKSPACE/src
git clone https://github.com/PX4/mav_comm.git
# glog catkin
cd $WORKSPACE/src
git clone https://github.com/ethz-asl/glog_catkin.git
# catkin simple
cd $WORKSPACE/src
git clone https://github.com/catkin/catkin_simple.git
cd $WORKSPACE
catkin_make
Tools/ros/px4_ros_installation_ubuntu.sh
Executable
+41
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@@ -0,0 +1,41 @@
#!/bin/sh
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
# main ROS Setup
# following http://wiki.ros.org/indigo/Installation/Ubuntu
# also adding drcsim http://gazebosim.org/tutorials?tut=drcsim_install
# run this file with . ./px4_ros_setup_ubuntu.sh
## add ROS repository
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'
## add key
wget https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -O - | \
sudo apt-key add -
## Install main ROS pacakges
sudo apt-get update
sudo apt-get -y install ros-indigo-desktop-full
sudo rosdep init
rosdep update
## Setup environment variables
echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
. ~/.bashrc
# get rosinstall
sudo apt-get -y install python-rosinstall
# additional dependencies
sudo apt-get -y install ros-indigo-octomap-msgs ros-indigo-joy
## drcsim setup (for models)
### add osrf repository
sudo sh -c 'echo "deb http://packages.osrfoundation.org/drc/ubuntu trusty main" > /etc/apt/sources.list.d/drc-latest.list'
### add key
wget http://packages.osrfoundation.org/drc.key -O - | sudo apt-key add -
### install drcsim
sudo apt-get update
sudo apt-get -y install drcsim
Tools/ros/px4_workspace_create.sh
Executable
+9
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@@ -0,0 +1,9 @@
#!/bin/sh
# this script creates a catkin_ws in the current folder
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace
cd ..
catkin_make
Tools/ros/px4_workspace_setup.sh
Executable
+33
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@@ -0,0 +1,33 @@
#!/bin/bash
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
# run this script from the root of your catkin_ws
source devel/setup.bash
cd src
# PX4 Firmware
git clone https://github.com/PX4/Firmware.git
cd Firmware
git checkout ros
cd ..
# euroc simulator
git clone https://github.com/PX4/euroc_simulator.git
cd euroc_simulator
git checkout px4_nodes
cd ..
# mav comm
git clone https://github.com/PX4/mav_comm.git
# glog catkin
git clone https://github.com/ethz-asl/glog_catkin.git
# catkin simple
git clone https://github.com/catkin/catkin_simple.git
# drcsim (for scenery and models)
cd ..
catkin_make
Tools/ros/vagrant/docker-host-base/Vagrantfile
Vendored
+58
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@@ -0,0 +1,58 @@
# -*- mode: ruby -*-
# vi: set ft=ruby :
#
# Vagrantfile to create docker-host-base
#
# Maintainer: Andreas Antener <andreas@uaventure.com>
#
# After build, do "vagrant package --base docker-host-base" to package,
# and import as box: "vagrant box add --name uaventure/docker-host-base package.box"
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
Vagrant.configure(2) do |config|
config.vm.box = "ubuntu/trusty64"
config.vm.define "docker-host-base"
config.vm.provider "virtualbox" do |vb|
vb.name = "docker-host-base"
vb.gui = true
vb.memory = "1024"
end
config.vm.provision "file", source: "config/docker-default", destination: "/home/vagrant/docker-default"
config.vm.provision "file", source: "config/xsessionrc", destination: "/home/vagrant/.xsessionrc"
config.vm.provision "shell", inline: <<-SHELL
# Update and install apps
export DEBIAN_FRONTEND=noninteractive
sudo apt-get update
sudo apt-get upgrade -y
sudo apt-get install -y --no-install-recommends ubuntu-desktop
sudo apt-get install -y gnome-terminal unity-lens-applications
# Reset the ssh key (because vagrant regenerates it during provisioning)
sudo wget --no-check-certificate https://raw.github.com/mitchellh/vagrant/master/keys/vagrant.pub -O /home/vagrant/.ssh/authorized_keys
sudo chmod 0700 /home/vagrant/.ssh
sudo chmod 0600 /home/vagrant/.ssh/authorized_keys
sudo chown -R vagrant /home/vagrant/.ssh
# Copy docker config
sudo mv /home/vagrant/docker-default /etc/default/docker
# Enable autologin so docker can start GUI apps
sudo echo "autologin-user=vagrant" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
sudo echo "autologin-user-timeout=0" >> /usr/share/lightdm/lightdm.conf.d/50-unity-greeter.conf
# X session RC
chmod +x /home/vagrant/.xsessionrc
SHELL
config.vm.provision "docker"
# Shutdown after provisioning. "vagrant halt" doesn't recognize the original ssh key anymore
# and would just kill the VM. This might lead to FS inconsistencies (e.g. in the docker DB).
config.vm.provision "shell", inline: "sudo shutdown -h now"
end
Tools/ros/vagrant/docker-host-base/config/docker-default
+29
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@@ -0,0 +1,29 @@
#
# Default config for docker /etc/default/docker
# Copied from a provisioned vagrant box
#
# Modifications:
# - listen to TCP port
# - removing deprecated "-r=true" option which apparently doesn't work anymore
# > use restart policies for specific containers if necessary
#
# Docker Upstart and SysVinit configuration file
# Customize location of Docker binary (especially for development testing).
#DOCKER="/usr/local/bin/docker"
# Use DOCKER_OPTS to modify the daemon startup options.
#DOCKER_OPTS="--dns 8.8.8.8 --dns 8.8.4.4"
# If you need Docker to use an HTTP proxy, it can also be specified here.
#export http_proxy="http://127.0.0.1:3128/"
# This is also a handy place to tweak where Docker's temporary files go.
#export TMPDIR="/mnt/bigdrive/docker-tmp"
# Expose TCP port in addition to socket
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
DOCKER_OPTS="${DOCKER_OPTS} -H unix:///var/run/docker.sock -H 0.0.0.0:2375"
Tools/ros/vagrant/docker-host-base/config/xsessionrc
+6
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@@ -0,0 +1,6 @@
#!/bin/sh
#
# Disable X access control so we can easily start GUI apps
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
xhost +
Tools/ros/vagrant/docker-host/Vagrantfile
Vendored
+38
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@@ -0,0 +1,38 @@
# -*- mode: ruby -*-
# vi: set ft=ruby :
#
# Actual docker host VM to run.
#
# Maintainer: Andreas Antener <andreas@uaventure.com>
#
# To add local docker images into the docker host, configure your local
# docker client to control the docker daemon on the running "docker-host" VM.
# The box ("docker-host-base") configures docker to listen on any IP on port 2375.
# You can then load an existing image, e.g.:
# "docker load -i container-image.tar"
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
Vagrant.configure(2) do |config|
config.vm.box = "uaventure/docker-host-base"
config.vm.define "docker-host"
config.vm.provider "virtualbox" do |vb|
vb.name = "docker-host"
vb.gui = true
vb.memory = "4096"
vb.cpus = 2
vb.customize ["modifyvm", :id, "--graphicscontroller", "vboxvga"]
vb.customize ["modifyvm", :id, "--accelerate3d", "on"]
vb.customize ["modifyvm", :id, "--ioapic", "on"]
vb.customize ["modifyvm", :id, "--vram", "128"]
vb.customize ["modifyvm", :id, "--hwvirtex", "on"]
end
config.vm.network "private_network", ip: "192.168.59.104"
# TBD: would it be better to provision docker here instead of in the base box?
#config.vm.provision "docker"
end
Tools/ros/vagrant/px4-ros/Vagrantfile
Vendored
+61
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@@ -0,0 +1,61 @@
# -*- mode: ruby -*-
# vi: set ft=ruby :
#
# Boot docker SITL environment
#
# Maintainer: Andreas Antener <andreas@uaventure.com>
#
# "vagrant up" will build the images. Should eventually start "xterm" from within the docker container.
#
# Notes:
# (will change, need proper docs)
#
# Build with multiple dependent docker containers:
# Use the "--no-parallel" option so the containers will be built/started in order.
# e.g.: "vagrant up --no-parallel"
#
# Running apps directly:
# "vagrant docker-run ros -- <cmd>"
# Attention: will loose all data when stopped, vagrant runs docker always with "--rm"
#
# TODO
# - do not run the docker container with "--rm" (vagrant default). is that even possible?
# - maybe map a local working directory to compile stuff without loosing it in side the docker container
#
# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
Vagrant.configure(2) do |config|
# Configure docker host
config.vm.provider "docker" do |d|
d.vagrant_machine = "docker-host"
d.vagrant_vagrantfile = "../docker-host/Vagrantfile"
end
# Configure docker apps to run
config.vm.define "ros" do |app|
app.vm.provider "docker" do |d|
d.name = "ros"
d.image = "uaventure/px4-ros-full"
#d.build_dir = "../../docker/px4-ros-full"
#d.build_args = ["-t=uaventure/px4-ros-full"]
# Share docker host x11 socket
# Run privileged to support 3d acceleration
d.volumes = [
"/tmp/.X11-unix:/tmp/.X11-unix:ro"
]
d.create_args = ["--privileged"]
# TODO: get display number from host system
d.env = {
"DISPLAY" => ":0"
}
d.remains_running = true
d.cmd = ["xterm"]
#d.has_ssh = true
end
end
end
launch/ardrone.launch
+15
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@@ -0,0 +1,15 @@
<launch>
<include file="$(find px4)/launch/multicopter_x.launch" />
<group ns="px4_multicopter">
<param name="MPC_XY_P" type="double" value="1.0" />
<param name="MPC_XY_FF" type="double" value="0.0" />
<param name="MPC_XY_VEL_P" type="double" value="0.01" />
<param name="MPC_XY_VEL_I" type="double" value="0.0" />
<param name="MPC_XY_VEL_D" type="double" value="0.01" />
<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
<param name="vehicle_model" type="string" value="ardrone" />
</group>
</launch>
launch/example.launch
+8
View File
@@ -0,0 +1,8 @@
<launch>
<group ns="px4_example">
<node pkg="px4" name="subscriber" type="subscriber"/>
<node pkg="px4" name="publisher" type="publisher"/>
</group>
</launch>
launch/gazebo_ardrone_empty_world.launch
+6
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@@ -0,0 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/ardrone_empty_world_with_joy.launch" />
<include file="$(find px4)/launch/ardrone.launch" />
</launch>
launch/gazebo_ardrone_house_world.launch
+6
View File
@@ -0,0 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/ardrone_house_world_with_joy.launch" />
<include file="$(find px4)/launch/ardrone.launch" />
</launch>
launch/gazebo_iris_empty_world.launch
+6
View File
@@ -0,0 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/iris_empty_world_with_joy.launch" />
<include file="$(find px4)/launch/iris.launch" />
</launch>
launch/gazebo_iris_house_world.launch
+6
View File
@@ -0,0 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/iris_house_world_with_joy.launch" />
<include file="$(find px4)/launch/iris.launch" />
</launch>
launch/gazebo_iris_outdoor_world.launch
+6
View File
@@ -0,0 +1,6 @@
<launch>
<include file="$(find mav_gazebo)/launch/iris_outdoor_world_with_joy.launch" />
<include file="$(find px4)/launch/iris.launch" />
</launch>
launch/iris.launch
+16
View File
@@ -0,0 +1,16 @@
<launch>
<include file="$(find px4)/launch/multicopter_w.launch" />
<group ns="px4_multicopter">
<param name="mixer" type="string" value="i" />
<param name="MPC_XY_P" type="double" value="1.0" />
<param name="MPC_XY_FF" type="double" value="0.0" />
<param name="MPC_XY_VEL_P" type="double" value="0.01" />
<param name="MPC_XY_VEL_I" type="double" value="0.0" />
<param name="MPC_XY_VEL_D" type="double" value="0.01" />
<param name="MPC_XY_VEL_MAX" type="double" value="2.0" />
<param name="vehicle_model" type="string" value="iris" />
</group>
</launch>
launch/multicopter.launch
+15
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@@ -0,0 +1,15 @@
<launch>
<group ns="px4_multicopter">
<node pkg="joy" name="joy_node" type="joy_node"/>
<node pkg="px4" name="manual_input" type="manual_input"/>
<node pkg="px4" name="commander" type="commander"/>
<node pkg="px4" name="mc_mixer" type="mc_mixer"/>
<node pkg="px4" name="attitude_estimator" type="attitude_estimator"/>
<node pkg="px4" name="position_estimator" type="position_estimator"/>
<node pkg="px4" name="mc_att_control" type="mc_att_control"/>
<node pkg="px4" name="mc_pos_control" type="mc_pos_control"/>
<!-- <node pkg="rosbag" type="record" name="record" output="screen" args="-a -O px4_multicopter"/> -->
</group>
</launch>
launch/multicopter_w.launch
+9
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@@ -0,0 +1,9 @@
<launch>
<include file="$(find px4)/launch/multicopter.launch" />
<group ns="px4_multicopter">
<param name="mixer" type="string" value="w" />
</group>
</launch>
launch/multicopter_x.launch
+9
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@@ -0,0 +1,9 @@
<launch>
<include file="$(find px4)/launch/multicopter.launch" />
<group ns="px4_multicopter">
<param name="mixer" type="string" value="x" />
</group>
</launch>
makefiles/config_px4fmu-v1_default.mk
+6 -5
View File
@@ -24,18 +24,18 @@ MODULES += drivers/l3gd20
MODULES += drivers/mpu6000
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
#MODULES += drivers/ll40ls
MODULES += drivers/ll40ls
MODULES += drivers/trone
#MODULES += drivers/mb12xx
MODULES += drivers/mb12xx
MODULES += drivers/gps
MODULES += drivers/hil
#MODULES += drivers/blinkm
MODULES += drivers/blinkm
MODULES += drivers/rgbled
MODULES += drivers/mkblctrl
MODULES += drivers/airspeed
#MODULES += drivers/ets_airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
#MODULES += drivers/frsky_telemetry
MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
#
@@ -111,6 +111,7 @@ MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
MODULES += platforms/nuttx
#
# Demo apps
makefiles/config_px4fmu-v2_default.mk
+7 -6
View File
@@ -27,15 +27,15 @@ MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
# MODULES += drivers/sf0x
MODULES += drivers/sf0x
MODULES += drivers/ll40ls
# MODULES += drivers/trone
MODULES += drivers/trone
MODULES += drivers/gps
MODULES += drivers/hil
# MODULES += drivers/hott
# MODULES += drivers/hott/hott_telemetry
# MODULES += drivers/hott/hott_sensors
# MODULES += drivers/blinkm
MODULES += drivers/hott
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
@@ -116,6 +116,7 @@ MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
MODULES += platforms/nuttx
#
# OBC challenge
makefiles/config_px4fmu-v2_multiplatform.mk
+170
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@@ -0,0 +1,170 @@
#
# Makefile for the px4fmu_default configuration
#
#
# Use the configuration's ROMFS, copy the px4iov2 firmware into
# the ROMFS if it's available
#
ROMFS_ROOT = $(PX4_BASE)/ROMFS/px4fmu_common
ROMFS_OPTIONAL_FILES = $(PX4_BASE)/Images/px4io-v2_default.bin
#
# Board support modules
#
MODULES += drivers/device
MODULES += drivers/stm32
MODULES += drivers/stm32/adc
MODULES += drivers/stm32/tone_alarm
MODULES += drivers/led
MODULES += drivers/px4fmu
MODULES += drivers/px4io
MODULES += drivers/boards/px4fmu-v2
MODULES += drivers/rgbled
MODULES += drivers/mpu6000
MODULES += drivers/lsm303d
MODULES += drivers/l3gd20
MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/mb12xx
# MODULES += drivers/sf0x
MODULES += drivers/ll40ls
# MODULES += drivers/trone
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
# MODULES += drivers/blinkm
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += drivers/frsky_telemetry
MODULES += modules/sensors
MODULES += drivers/mkblctrl
MODULES += drivers/px4flow
#
# System commands
#
MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo
MODULES += systemcmds/mixer
MODULES += systemcmds/param
MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/dumpfile
MODULES += systemcmds/ver
#
# General system control
#
MODULES += modules/commander
MODULES += modules/navigator
MODULES += modules/mavlink
MODULES += modules/gpio_led
# MODULES += modules/uavcan
#
# Estimation modules (EKF/ SO3 / other filters)
#
MODULES += modules/attitude_estimator_ekf
MODULES += modules/ekf_att_pos_estimator
MODULES += modules/position_estimator_inav
#
# Vehicle Control
#
#MODULES += modules/segway # XXX Needs GCC 4.7 fix
#MODULES += modules/fw_pos_control_l1
#MODULES += modules/fw_att_control
# MODULES += modules/mc_att_control
MODULES += modules/mc_att_control_multiplatform
MODULES += examples/subscriber
MODULES += examples/publisher
# MODULES += modules/mc_pos_control
MODULES += modules/mc_pos_control_multiplatform
MODULES += modules/vtol_att_control
#
# Logging
#
MODULES += modules/sdlog2
#
# Library modules
#
MODULES += modules/systemlib
MODULES += modules/systemlib/mixer
MODULES += modules/controllib
MODULES += modules/uORB
MODULES += modules/dataman
#
# Libraries
#
LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/ecl
MODULES += lib/external_lgpl
MODULES += lib/geo
MODULES += lib/geo_lookup
MODULES += lib/conversion
MODULES += lib/launchdetection
MODULES += platforms/nuttx
#
# OBC challenge
#
MODULES += modules/bottle_drop
#
# Demo apps
#
#MODULES += examples/math_demo
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/hello_sky
#MODULES += examples/px4_simple_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/daemon
#MODULES += examples/px4_daemon_app
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/debug_values
#MODULES += examples/px4_mavlink_debug
# Tutorial code from
# https://pixhawk.ethz.ch/px4/dev/example_fixedwing_control
#MODULES += examples/fixedwing_control
# Hardware test
#MODULES += examples/hwtest
# Generate parameter XML file
GEN_PARAM_XML = 1
#
# Transitional support - add commands from the NuttX export archive.
#
# In general, these should move to modules over time.
#
# Each entry here is <command>.<priority>.<stacksize>.<entrypoint> but we use a helper macro
# to make the table a bit more readable.
#
define _B
$(strip $1).$(or $(strip $2),SCHED_PRIORITY_DEFAULT).$(or $(strip $3),CONFIG_PTHREAD_STACK_DEFAULT).$(strip $4)
endef
# command priority stack entrypoint
BUILTIN_COMMANDS := \
$(call _B, sercon, , 2048, sercon_main ) \
$(call _B, serdis, , 2048, serdis_main )
makefiles/config_px4fmu-v2_test.mk
+27 -1
View File
@@ -26,6 +26,9 @@ MODULES += drivers/hmc5883
MODULES += drivers/ms5611
MODULES += drivers/pca8574
MODULES += drivers/roboclaw
MODULES += drivers/airspeed
MODULES += drivers/ets_airspeed
MODULES += drivers/meas_airspeed
MODULES += systemcmds/perf
MODULES += systemcmds/reboot
MODULES += systemcmds/tests
@@ -33,11 +36,33 @@ MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/ver
MODULES += systemcmds/top
MODULES += modules/sensors
#
# Testing modules
# System commands
#
MODULES += systemcmds/bl_update
MODULES += systemcmds/boardinfo
MODULES += systemcmds/mixer
MODULES += systemcmds/param
MODULES += systemcmds/perf
MODULES += systemcmds/preflight_check
MODULES += systemcmds/pwm
MODULES += systemcmds/esc_calib
MODULES += systemcmds/reboot
MODULES += systemcmds/top
MODULES += systemcmds/config
MODULES += systemcmds/nshterm
MODULES += systemcmds/mtd
MODULES += systemcmds/dumpfile
MODULES += systemcmds/ver
#
# Example modules
#
MODULES += examples/matlab_csv_serial
MODULES += examples/subscriber
MODULES += examples/publisher
#
# Library modules
@@ -49,6 +74,7 @@ LIBRARIES += lib/mathlib/CMSIS
MODULES += lib/mathlib
MODULES += lib/mathlib/math/filter
MODULES += lib/conversion
MODULES += platforms/nuttx
#
# Example modules to test-build
makefiles/setup.mk
+4 -2
View File
@@ -37,13 +37,14 @@
# Some useful paths.
#
# Note that in general we always keep directory paths with the separator
# at the end, and join paths without explicit separators. This reduces
# at the end, and join paths without explicit separators. This reduces
# the number of duplicate slashes we have lying around in paths,
# and is consistent with joining the results of $(dir) and $(notdir).
#
export PX4_INCLUDE_DIR = $(abspath $(PX4_BASE)/src/include)/
export PX4_MODULE_SRC = $(abspath $(PX4_BASE)/src)/
export PX4_LIB_DIR = $(abspath $(PX4_BASE)/src/lib)/
export PX4_PLATFORMS_DIR = $(abspath $(PX4_BASE)/src/platforms)/
export PX4_MK_DIR = $(abspath $(PX4_BASE)/makefiles)/
export NUTTX_SRC = $(abspath $(PX4_BASE)/NuttX/nuttx)/
export MAVLINK_SRC = $(abspath $(PX4_BASE)/mavlink/include/mavlink/v1.0)/
@@ -61,7 +62,8 @@ export ARCHIVE_DIR = $(abspath $(PX4_BASE)/Archives)/
export INCLUDE_DIRS := $(PX4_MODULE_SRC) \
$(PX4_MODULE_SRC)/modules/ \
$(PX4_INCLUDE_DIR) \
$(PX4_LIB_DIR)
$(PX4_LIB_DIR) \
$(PX4_PLATFORMS_DIR)
#
# Tools
makefiles/toolchain_gnu-arm-eabi.mk
+1 -1
View File
@@ -128,7 +128,7 @@ INSTRUMENTATIONDEFINES = $(ARCHINSTRUMENTATIONDEFINES_$(CONFIG_ARCH))
# Language-specific flags
#
ARCHCFLAGS = -std=gnu99
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics
ARCHCXXFLAGS = -fno-exceptions -fno-rtti -std=gnu++0x -fno-threadsafe-statics -D__CUSTOM_FILE_IO__
# Generic warnings
#
msg/actuator_armed.msg
+6
View File
@@ -0,0 +1,6 @@
uint64 timestamp # Microseconds since system boot
bool armed # Set to true if system is armed
bool ready_to_arm # Set to true if system is ready to be armed
bool lockdown # Set to true if actuators are forced to being disabled (due to emergency or HIL)
bool force_failsafe # Set to true if the actuators are forced to the failsafe position
msg/actuator_controls.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/actuator_controls_0.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/actuator_controls_1.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/actuator_controls_2.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/actuator_controls_3.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/actuator_controls_virtual_fw.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/actuator_controls_virtual_mc.msg
+5
View File
@@ -0,0 +1,5 @@
uint8 NUM_ACTUATOR_CONTROLS = 8
uint8 NUM_ACTUATOR_CONTROL_GROUPS = 4
uint64 timestamp
uint64 timestamp_sample # the timestamp the data this control response is based on was sampled
float32[8] control
msg/fw_virtual_rates_setpoint.msg
+6
View File
@@ -0,0 +1,6 @@
uint64 timestamp # in microseconds since system start
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame
float32 yaw # body angular rates in NED frame
float32 thrust # thrust normalized to 0..1
msg/manual_control_setpoint.msg
+44
View File
@@ -0,0 +1,44 @@
uint8 SWITCH_POS_NONE = 0 # switch is not mapped
uint8 SWITCH_POS_ON = 1 # switch activated (value = 1)
uint8 SWITCH_POS_MIDDLE = 2 # middle position (value = 0)
uint8 SWITCH_POS_OFF = 3 # switch not activated (value = -1)
uint64 timestamp
# Any of the channels may not be available and be set to NaN
# to indicate that it does not contain valid data.
# The variable names follow the definition of the
# MANUAL_CONTROL mavlink message.
# The default range is from -1 to 1 (mavlink message -1000 to 1000)
# The range for the z variable is defined from 0 to 1. (The z field of
# the MANUAL_CONTROL mavlink message is defined from -1000 to 1000)
float32 x # stick position in x direction -1..1
# in general corresponds to forward/back motion or pitch of vehicle,
# in general a positive value means forward or negative pitch and
# a negative value means backward or positive pitch
float32 y # stick position in y direction -1..1
# in general corresponds to right/left motion or roll of vehicle,
# in general a positive value means right or positive roll and
# a negative value means left or negative roll
float32 z # throttle stick position 0..1
# in general corresponds to up/down motion or thrust of vehicle,
# in general the value corresponds to the demanded throttle by the user,
# if the input is used for setting the setpoint of a vertical position
# controller any value > 0.5 means up and any value < 0.5 means down
float32 r # yaw stick/twist positon, -1..1
# in general corresponds to the righthand rotation around the vertical
# (downwards) axis of the vehicle
float32 flaps # flap position
float32 aux1 # default function: camera yaw / azimuth
float32 aux2 # default function: camera pitch / tilt
float32 aux3 # default function: camera trigger
float32 aux4 # default function: camera roll
float32 aux5 # default function: payload drop
uint8 mode_switch # main mode 3 position switch (mandatory): _MANUAL_, ASSIST, AUTO
uint8 return_switch # return to launch 2 position switch (mandatory): _NORMAL_, RTL
uint8 posctl_switch # position control 2 position switch (optional): _ALTCTL_, POSCTL
uint8 loiter_switch # loiter 2 position switch (optional): _MISSION_, LOITER
uint8 acro_switch # acro 2 position switch (optional): _MANUAL_, ACRO
uint8 offboard_switch # offboard 2 position switch (optional): _NORMAL_, OFFBOARD
msg/mc_virtual_rates_setpoint.msg
+6
View File
@@ -0,0 +1,6 @@
uint64 timestamp # in microseconds since system start
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame
float32 yaw # body angular rates in NED frame
float32 thrust # thrust normalized to 0..1
msg/parameter_update.msg
+1
View File
@@ -0,0 +1 @@
uint64 timestamp # time at which the latest parameter was updated
msg/position_setpoint.msg
+35
View File
@@ -0,0 +1,35 @@
# this file is only used in the position_setpoint triple as a dependency
uint8 SETPOINT_TYPE_POSITION=0 # position setpoint
uint8 SETPOINT_TYPE_VELOCITY=1 # velocity setpoint
uint8 SETPOINT_TYPE_LOITER=2 # loiter setpoint
uint8 SETPOINT_TYPE_TAKEOFF=3 # takeoff setpoint
uint8 SETPOINT_TYPE_LAND=4 # land setpoint, altitude must be ignored, descend until landing
uint8 SETPOINT_TYPE_IDLE=5 # do nothing, switch off motors or keep at idle speed (MC)
uint8 SETPOINT_TYPE_OFFBOARD=6 # setpoint in NED frame (x, y, z, vx, vy, vz) set by offboard
bool valid # true if setpoint is valid
uint8 type # setpoint type to adjust behavior of position controller
float32 x # local position setpoint in m in NED
float32 y # local position setpoint in m in NED
float32 z # local position setpoint in m in NED
bool position_valid # true if local position setpoint valid
float32 vx # local velocity setpoint in m/s in NED
float32 vy # local velocity setpoint in m/s in NED
float32 vz # local velocity setpoint in m/s in NED
bool velocity_valid # true if local velocity setpoint valid
float64 lat # latitude, in deg
float64 lon # longitude, in deg
float32 alt # altitude AMSL, in m
float32 yaw # yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
bool yaw_valid # true if yaw setpoint valid
float32 yawspeed # yawspeed (only for multirotors, in rad/s)
bool yawspeed_valid # true if yawspeed setpoint valid
float32 loiter_radius # loiter radius (only for fixed wing), in m
int8 loiter_direction # loiter direction: 1 = CW, -1 = CCW
float32 pitch_min # minimal pitch angle for fixed wing takeoff waypoints
float32 a_x # acceleration x setpoint
float32 a_y # acceleration y setpoint
float32 a_z # acceleration z setpoint
bool acceleration_valid # true if acceleration setpoint is valid/should be used
bool acceleration_is_force # interprete acceleration as force
msg/position_setpoint_triplet.msg
+8
View File
@@ -0,0 +1,8 @@
# Global position setpoint triplet in WGS84 coordinates.
# This are the three next waypoints (or just the next two or one).
px4/position_setpoint previous
px4/position_setpoint current
px4/position_setpoint next
uint8 nav_state # report the navigation state
msg/rc_channels.msg
+27
View File
@@ -0,0 +1,27 @@
int32 RC_CHANNELS_FUNCTION_MAX=19
uint8 RC_CHANNELS_FUNCTION_THROTTLE=0
uint8 RC_CHANNELS_FUNCTION_ROLL=1
uint8 RC_CHANNELS_FUNCTION_PITCH=2
uint8 RC_CHANNELS_FUNCTION_YAW=3
uint8 RC_CHANNELS_FUNCTION_MODE=4
uint8 RC_CHANNELS_FUNCTION_RETURN=5
uint8 RC_CHANNELS_FUNCTION_POSCTL=6
uint8 RC_CHANNELS_FUNCTION_LOITER=7
uint8 RC_CHANNELS_FUNCTION_OFFBOARD=8
uint8 RC_CHANNELS_FUNCTION_ACRO=9
uint8 RC_CHANNELS_FUNCTION_FLAPS=10
uint8 RC_CHANNELS_FUNCTION_AUX_1=11
uint8 RC_CHANNELS_FUNCTION_AUX_2=12
uint8 RC_CHANNELS_FUNCTION_AUX_3=13
uint8 RC_CHANNELS_FUNCTION_AUX_4=14
uint8 RC_CHANNELS_FUNCTION_AUX_5=15
uint8 RC_CHANNELS_FUNCTION_PARAM_1=16
uint8 RC_CHANNELS_FUNCTION_PARAM_2=17
uint8 RC_CHANNELS_FUNCTION_PARAM_3_5=18
uint64 timestamp # Timestamp in microseconds since boot time
uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[19] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[19] function # Functions mapping
uint8 rssi # Receive signal strength index
bool signal_lost # Control signal lost, should be checked together with topic timeout
msg/templates/px4/ros/msg.h.template
+95
View File
@@ -0,0 +1,95 @@
@###############################################
@#
@# PX4 ROS compatible message source code
@# generation for C++
@#
@# This file generates the multiplatform wrapper
@#
@# EmPy template for generating <msg>.h files
@# Based on the original template for ROS
@#
@###############################################
@# Start of Template
@#
@# Context:
@# - file_name_in (String) Source file
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@# - md5sum (String) MD5Sum of the .msg specification
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* Auto-generated by genmsg_cpp from file @file_name_in */
@{
import genmsg.msgs
import gencpp
cpp_class = 'px4_%s'%spec.short_name
native_type = spec.short_name
topic_name = spec.short_name
}@
#pragma once
@##############################
@# Generic Includes
@##############################
#include "px4/@(topic_name).h"
#include "platforms/px4_message.h"
@##############################
@# Class
@##############################
namespace px4
{
class @(cpp_class) :
public PX4Message<@(native_type)>
{
public:
@(cpp_class)() :
PX4Message<@(native_type)>()
{}
@(cpp_class)(@(native_type) msg) :
PX4Message<@(native_type)>(msg)
{}
~@(cpp_class)() {}
static PX4TopicHandle handle() {return "@(topic_name)";}
};
};
msg/templates/px4/uorb/msg.h.template
+95
View File
@@ -0,0 +1,95 @@
@###############################################
@#
@# PX4 ROS compatible message source code
@# generation for C++
@#
@# This file generates the multiplatform wrapper
@#
@# EmPy template for generating <msg>.h files
@# Based on the original template for ROS
@#
@###############################################
@# Start of Template
@#
@# Context:
@# - file_name_in (String) Source file
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@# - md5sum (String) MD5Sum of the .msg specification
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* Auto-generated by genmsg_cpp from file @file_name_in */
@{
import genmsg.msgs
import gencpp
cpp_class = 'px4_%s'%spec.short_name
native_type = '%s_s'%spec.short_name
topic_name = spec.short_name
}@
#pragma once
@##############################
@# Generic Includes
@##############################
#include <uORB/topics/@(topic_name).h>
#include "platforms/px4_message.h"
@##############################
@# Class
@##############################
namespace px4
{
class __EXPORT @(cpp_class) :
public PX4Message<@(native_type)>
{
public:
@(cpp_class)() :
PX4Message<@(native_type)>()
{}
@(cpp_class)(@(native_type) msg) :
PX4Message<@(native_type)>(msg)
{}
~@(cpp_class)() {}
static PX4TopicHandle handle() {return ORB_ID(@(topic_name));}
};
};
msg/templates/uorb/msg.h.template
+175
View File
@@ -0,0 +1,175 @@
@###############################################
@#
@# PX4 ROS compatible message source code
@# generation for C++
@#
@# EmPy template for generating <msg>.h files
@# Based on the original template for ROS
@#
@###############################################
@# Start of Template
@#
@# Context:
@# - file_name_in (String) Source file
@# - spec (msggen.MsgSpec) Parsed specification of the .msg file
@# - md5sum (String) MD5Sum of the .msg specification
@###############################################
/****************************************************************************
*
* Copyright (C) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/* Auto-generated by genmsg_cpp from file @file_name_in */
@{
import genmsg.msgs
import gencpp
uorb_struct = '%s_s'%spec.short_name
topic_name = spec.short_name
}@
#pragma once
@##############################
@# Generic Includes
@##############################
#include <stdint.h>
#include <uORB/uORB.h>
@##############################
@# Includes for dependencies
@##############################
@{
for field in spec.parsed_fields():
if (not field.is_builtin):
if (not field.is_header):
(package, name) = genmsg.names.package_resource_name(field.base_type)
package = package or spec.package # convert '' to package
print('#include <uORB/topics/%s.h>'%(name))
}@
@# Constants c style
#ifndef __cplusplus
@[for constant in spec.constants]@
#define @(constant.name) @(int(constant.val))
@[end for]
#endif
/**
* @@addtogroup topics
* @@{
*/
@##############################
@# Main struct of message
@##############################
@{
type_map = {'int8': 'int8_t',
'int16': 'int16_t',
'int32': 'int32_t',
'int64': 'int64_t',
'uint8': 'uint8_t',
'uint16': 'uint16_t',
'uint32': 'uint32_t',
'uint64': 'uint64_t',
'float32': 'float',
'float64': 'double',
'bool': 'bool',
'fence_vertex': 'fence_vertex',
'position_setpoint': 'position_setpoint'}
# Function to print a standard ros type
def print_field_def(field):
type = field.type
# detect embedded types
sl_pos = type.find('/')
type_appendix = ''
type_prefix = ''
if (sl_pos >= 0):
type = type[sl_pos + 1:]
type_prefix = 'struct '
type_appendix = '_s'
# detect arrays
a_pos = type.find('[')
array_size = ''
if (a_pos >= 0):
# field is array
array_size = type[a_pos:]
type = type[:a_pos]
if type in type_map:
# need to add _t: int8 --> int8_t
type_px4 = type_map[type]
else:
raise Exception("Type {0} not supported, add to to template file!".format(type))
print('\t%s%s%s %s%s;'%(type_prefix, type_px4, type_appendix, field.name, array_size))
}
#ifdef __cplusplus
@#class @(uorb_struct) {
struct __EXPORT @(uorb_struct) {
@#public:
#else
struct @(uorb_struct) {
#endif
@{
# loop over all fields and print the type and name
for field in spec.parsed_fields():
if (not field.is_header):
print_field_def(field)
}@
#ifdef __cplusplus
@# Constants again c++-ified
@{
for constant in spec.constants:
type = constant.type
if type in type_map:
# need to add _t: int8 --> int8_t
type_px4 = type_map[type]
else:
raise Exception("Type {0} not supported, add to to template file!".format(type))
print('\tstatic const %s %s = %s;'%(type_px4, constant.name, int(constant.val)))
}
#endif
};
/**
* @@}
*/
/* register this as object request broker structure */
ORB_DECLARE(@(topic_name));
msg/vehicle_attitude.msg
+18
View File
@@ -0,0 +1,18 @@
# This is similar to the mavlink message ATTITUDE, but for onboard use */
uint64 timestamp # in microseconds since system start
# @warning roll, pitch and yaw have always to be valid, the rotation matrix and quaternion are optional
float32 roll # Roll angle (rad, Tait-Bryan, NED)
float32 pitch # Pitch angle (rad, Tait-Bryan, NED)
float32 yaw # Yaw angle (rad, Tait-Bryan, NED)
float32 rollspeed # Roll angular speed (rad/s, Tait-Bryan, NED)
float32 pitchspeed # Pitch angular speed (rad/s, Tait-Bryan, NED)
float32 yawspeed # Yaw angular speed (rad/s, Tait-Bryan, NED)
float32 rollacc # Roll angular accelration (rad/s, Tait-Bryan, NED)
float32 pitchacc # Pitch angular acceleration (rad/s, Tait-Bryan, NED)
float32 yawacc # Yaw angular acceleration (rad/s, Tait-Bryan, NED)
float32[3] rate_offsets # Offsets of the body angular rates from zero
float32[9] R # Rotation matrix, body to world, (Tait-Bryan, NED)
float32[4] q # Quaternion (NED)
float32[3] g_comp # Compensated gravity vector
bool R_valid # Rotation matrix valid
bool q_valid # Quaternion valid
msg/vehicle_attitude_setpoint.msg
+21
View File
@@ -0,0 +1,21 @@
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
float32 roll_body # body angle in NED frame
float32 pitch_body # body angle in NED frame
float32 yaw_body # body angle in NED frame
float32[9] R_body # Rotation matrix describing the setpoint as rotation from the current body frame
bool R_valid # Set to true if rotation matrix is valid
# For quaternion-based attitude control
float32[4] q_d # Desired quaternion for quaternion control
bool q_d_valid # Set to true if quaternion vector is valid
float32[4] q_e # Attitude error in quaternion
bool q_e_valid # Set to true if quaternion error vector is valid
float32 thrust # Thrust in Newton the power system should generate
bool roll_reset_integral # Reset roll integral part (navigation logic change)
bool pitch_reset_integral # Reset pitch integral part (navigation logic change)
bool yaw_reset_integral # Reset yaw integral part (navigation logic change)
msg/vehicle_control_mode.msg
+22
View File
@@ -0,0 +1,22 @@
uint64 timestamp # in microseconds since system start
# is set whenever the writing thread stores new data
bool flag_armed
bool flag_external_manual_override_ok # external override non-fatal for system. Only true for fixed wing
# XXX needs yet to be set by state machine helper
bool flag_system_hil_enabled
bool flag_control_manual_enabled # true if manual input is mixed in
bool flag_control_auto_enabled # true if onboard autopilot should act
bool flag_control_offboard_enabled # true if offboard control should be used
bool flag_control_rates_enabled # true if rates are stabilized
bool flag_control_attitude_enabled # true if attitude stabilization is mixed in
bool flag_control_force_enabled # true if force control is mixed in
bool flag_control_velocity_enabled # true if horizontal velocity (implies direction) is controlled
bool flag_control_position_enabled # true if position is controlled
bool flag_control_altitude_enabled # true if altitude is controlled
bool flag_control_climb_rate_enabled # true if climb rate is controlled
bool flag_control_termination_enabled # true if flighttermination is enabled
msg/vehicle_global_velocity_setpoint.msg
+4
View File
@@ -0,0 +1,4 @@
# Velocity setpoint in NED frame
float32 vx # in m/s NED
float32 vy # in m/s NED
float32 vz # in m/s NED
msg/vehicle_local_position.msg
+36
View File
@@ -0,0 +1,36 @@
# Fused local position in NED.
uint64 timestamp # Time of this estimate, in microseconds since system start
bool xy_valid # true if x and y are valid
bool z_valid # true if z is valid
bool v_xy_valid # true if vy and vy are valid
bool v_z_valid # true if vz is valid
# Position in local NED frame
float32 x # X position in meters in NED earth-fixed frame
float32 y # X position in meters in NED earth-fixed frame
float32 z # Z position in meters in NED earth-fixed frame (negative altitude)
# Velocity in NED frame
float32 vx # Ground X Speed (Latitude), m/s in NED
float32 vy # Ground Y Speed (Longitude), m/s in NED
float32 vz # Ground Z Speed (Altitude), m/s in NED
# Heading
float32 yaw
# Reference position in GPS / WGS84 frame
bool xy_global # true if position (x, y) is valid and has valid global reference (ref_lat, ref_lon)
bool z_global # true if z is valid and has valid global reference (ref_alt)
uint64 ref_timestamp # Time when reference position was set
float64 ref_lat # Reference point latitude in degrees
float64 ref_lon # Reference point longitude in degrees
float32 ref_alt # Reference altitude AMSL in meters, MUST be set to current (not at reference point!) ground level
# Distance to surface
float32 dist_bottom # Distance to bottom surface (ground)
float32 dist_bottom_rate # Distance to bottom surface (ground) change rate
uint64 surface_bottom_timestamp # Time when new bottom surface found
bool dist_bottom_valid # true if distance to bottom surface is valid
float32 eph
float32 epv
msg/vehicle_local_position_setpoint.msg
+7
View File
@@ -0,0 +1,7 @@
# Local position in NED frame
uint64 timestamp # timestamp of the setpoint
float32 x # in meters NED
float32 y # in meters NED
float32 z # in meters NED
float32 yaw # in radians NED -PI..+PI
msg/vehicle_rates_setpoint.msg
+6
View File
@@ -0,0 +1,6 @@
uint64 timestamp # in microseconds since system start
float32 roll # body angular rates in NED frame
float32 pitch # body angular rates in NED frame
float32 yaw # body angular rates in NED frame
float32 thrust # thrust normalized to 0..1
msg/vehicle_status.msg
+159
View File
@@ -0,0 +1,159 @@
# Main state, i.e. what user wants. Controlled by RC or from ground station via telemetry link.
uint8 MAIN_STATE_MANUAL = 0
uint8 MAIN_STATE_ALTCTL = 1
uint8 MAIN_STATE_POSCTL = 2
uint8 MAIN_STATE_AUTO_MISSION = 3
uint8 MAIN_STATE_AUTO_LOITER = 4
uint8 MAIN_STATE_AUTO_RTL = 5
uint8 MAIN_STATE_ACRO = 6
uint8 MAIN_STATE_OFFBOARD = 7
uint8 MAIN_STATE_MAX = 8
# If you change the order, add or remove arming_state_t states make sure to update the arrays
# in state_machine_helper.cpp as well.
uint8 ARMING_STATE_INIT = 0
uint8 ARMING_STATE_STANDBY = 1
uint8 ARMING_STATE_ARMED = 2
uint8 ARMING_STATE_ARMED_ERROR = 3
uint8 ARMING_STATE_STANDBY_ERROR = 4
uint8 ARMING_STATE_REBOOT = 5
uint8 ARMING_STATE_IN_AIR_RESTORE = 6
uint8 ARMING_STATE_MAX = 7
uint8 HIL_STATE_OFF = 0
uint8 HIL_STATE_ON = 1
# Navigation state, i.e. "what should vehicle do".
uint8 NAVIGATION_STATE_MANUAL = 0 # Manual mode
uint8 NAVIGATION_STATE_ALTCTL = 1 # Altitude control mode
uint8 NAVIGATION_STATE_POSCTL = 2 # Position control mode
uint8 NAVIGATION_STATE_AUTO_MISSION = 3 # Auto mission mode
uint8 NAVIGATION_STATE_AUTO_LOITER = 4 # Auto loiter mode
uint8 NAVIGATION_STATE_AUTO_RTL = 5 # Auto return to launch mode
uint8 NAVIGATION_STATE_AUTO_RCRECOVER = 6 # RC recover mode
uint8 NAVIGATION_STATE_AUTO_RTGS = 7 # Auto return to groundstation on data link loss
uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 # Auto land on engine failure
uint8 NAVIGATION_STATE_AUTO_LANDGPSFAIL = 9 # Auto land on gps failure (e.g. open loop loiter down)
uint8 NAVIGATION_STATE_ACRO = 10 # Acro mode
uint8 NAVIGATION_STATE_LAND = 11 # Land mode
uint8 NAVIGATION_STATE_DESCEND = 12 # Descend mode (no position control)
uint8 NAVIGATION_STATE_TERMINATION = 13 # Termination mode
uint8 NAVIGATION_STATE_OFFBOARD = 14
uint8 NAVIGATION_STATE_MAX = 15
# VEHICLE_MODE_FLAG, same as MAV_MODE_FLAG of MAVLink 1.0 protocol
uint8 VEHICLE_MODE_FLAG_SAFETY_ARMED = 128
uint8 VEHICLE_MODE_FLAG_MANUAL_INPUT_ENABLED = 64
uint8 VEHICLE_MODE_FLAG_HIL_ENABLED = 32
uint8 VEHICLE_MODE_FLAG_STABILIZED_ENABLED = 16
uint8 VEHICLE_MODE_FLAG_GUIDED_ENABLED = 8
uint8 VEHICLE_MODE_FLAG_AUTO_ENABLED = 4
uint8 VEHICLE_MODE_FLAG_TEST_ENABLED = 2
uint8 VEHICLE_MODE_FLAG_CUSTOM_MODE_ENABLED = 1
# VEHICLE_TYPE, should match 1:1 MAVLink's MAV_TYPE ENUM
uint8 VEHICLE_TYPE_GENERIC = 0 # Generic micro air vehicle.
uint8 VEHICLE_TYPE_FIXED_WING = 1 # Fixed wing aircraft.
uint8 VEHICLE_TYPE_QUADROTOR = 2 # Quadrotor
uint8 VEHICLE_TYPE_COAXIAL = 3 # Coaxial helicopter
uint8 VEHICLE_TYPE_HELICOPTER = 4 # Normal helicopter with tail rotor.
uint8 VEHICLE_TYPE_ANTENNA_TRACKER = 5 # Ground installation
uint8 VEHICLE_TYPE_GCS = 6 # Operator control unit / ground control station
uint8 VEHICLE_TYPE_AIRSHIP = 7 # Airship, controlled
uint8 VEHICLE_TYPE_FREE_BALLOON = 8 # Free balloon, uncontrolled
uint8 VEHICLE_TYPE_ROCKET = 9 # Rocket
uint8 VEHICLE_TYPE_GROUND_ROVER = 10 # Ground rover
uint8 VEHICLE_TYPE_SURFACE_BOAT = 11 # Surface vessel, boat, ship
uint8 VEHICLE_TYPE_SUBMARINE = 12 # Submarine
uint8 VEHICLE_TYPE_HEXAROTOR = 13 # Hexarotor
uint8 VEHICLE_TYPE_OCTOROTOR = 14 # Octorotor
uint8 VEHICLE_TYPE_TRICOPTER = 15 # Octorotor
uint8 VEHICLE_TYPE_FLAPPING_WING = 16 # Flapping wing
uint8 VEHICLE_TYPE_KITE = 17 # Kite
uint8 VEHICLE_TYPE_ONBOARD_CONTROLLER=18 # Onboard companion controller
uint8 VEHICLE_TYPE_VTOL_DUOROTOR = 19 # Vtol with two engines
uint8 VEHICLE_TYPE_VTOL_QUADROTOR = 20 # Vtol with four engines*/
uint8 VEHICLE_TYPE_ENUM_END = 21
uint8 VEHICLE_BATTERY_WARNING_NONE = 0 # no battery low voltage warning active
uint8 VEHICLE_BATTERY_WARNING_LOW = 1 # warning of low voltage
uint8 VEHICLE_BATTERY_WARNING_CRITICAL = 2 # alerting of critical voltage
# state machine / state of vehicle.
# Encodes the complete system state and is set by the commander app.
uint16 counter # incremented by the writing thread everytime new data is stored
uint64 timestamp # in microseconds since system start, is set whenever the writing thread stores new data
uint8 main_state # main state machine
uint8 nav_state # set navigation state machine to specified value
uint8 arming_state # current arming state
uint8 hil_state # current hil state
bool failsafe # true if system is in failsafe state
int32 system_type # system type, inspired by MAVLink's VEHICLE_TYPE enum
int32 system_id # system id, inspired by MAVLink's system ID field
int32 component_id # subsystem / component id, inspired by MAVLink's component ID field
bool is_rotary_wing # True if system is in rotary wing configuration, so for a VTOL this is only true while flying as a multicopter
bool is_vtol # True if the system is VTOL capable
bool vtol_fw_permanent_stab # True if vtol should stabilize attitude for fw in manual mode
bool condition_battery_voltage_valid
bool condition_system_in_air_restore # true if we can restore in mid air
bool condition_system_sensors_initialized
bool condition_system_returned_to_home
bool condition_auto_mission_available
bool condition_global_position_valid # set to true by the commander app if the quality of the position estimate is good enough to use it for navigation
bool condition_launch_position_valid # indicates a valid launch position
bool condition_home_position_valid # indicates a valid home position (a valid home position is not always a valid launch)
bool condition_local_position_valid
bool condition_local_altitude_valid
bool condition_airspeed_valid # set to true by the commander app if there is a valid airspeed measurement available
bool condition_landed # true if vehicle is landed, always true if disarmed
bool condition_power_input_valid # set if input power is valid
float32 avionics_power_rail_voltage # voltage of the avionics power rail
bool rc_signal_found_once
bool rc_signal_lost # true if RC reception lost
uint64 rc_signal_lost_timestamp # Time at which the RC reception was lost
bool rc_signal_lost_cmd # true if RC lost mode is commanded
bool rc_input_blocked # set if RC input should be ignored
bool data_link_lost # datalink to GCS lost
bool data_link_lost_cmd # datalink to GCS lost mode commanded
uint8 data_link_lost_counter # counts unique data link lost events
bool engine_failure # Set to true if an engine failure is detected
bool engine_failure_cmd # Set to true if an engine failure mode is commanded
bool gps_failure # Set to true if a gps failure is detected
bool gps_failure_cmd # Set to true if a gps failure mode is commanded
bool barometer_failure # Set to true if a barometer failure is detected
bool offboard_control_signal_found_once
bool offboard_control_signal_lost
bool offboard_control_signal_weak
uint64 offboard_control_signal_lost_interval # interval in microseconds without an offboard control message
bool offboard_control_set_by_command # true if the offboard mode was set by a mavlink command and should not be overridden by RC
# see SYS_STATUS mavlink message for the following
uint32 onboard_control_sensors_present
uint32 onboard_control_sensors_enabled
uint32 onboard_control_sensors_health
float32 load # processor load from 0 to 1
float32 battery_voltage
float32 battery_current
float32 battery_remaining
uint8 battery_warning # current battery warning mode, as defined by VEHICLE_BATTERY_WARNING enum
uint16 drop_rate_comm
uint16 errors_comm
uint16 errors_count1
uint16 errors_count2
uint16 errors_count3
uint16 errors_count4
bool circuit_breaker_engaged_power_check
bool circuit_breaker_engaged_airspd_check
bool circuit_breaker_engaged_enginefailure_check
bool circuit_breaker_engaged_gpsfailure_check
package.xml
+61
View File
@@ -0,0 +1,61 @@
<?xml version="1.0"?>
<package>
<name>px4</name>
<version>1.0.0</version>
<description>The PX4 Flight Stack package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="lorenz@px4.io">Lorenz Meier</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>BSD</license>
<!-- Url tags are optional, but mutiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<url type="website">http://px4.io/ros</url>
<!-- Author tags are optional, mutiple are allowed, one per tag -->
<!-- Authors do not have to be maintianers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<build_depend>message_generation</build_depend>
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<run_depend>message_runtime</run_depend>
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>eigen</build_depend>
<run_depend>roscpp</run_depend>
<run_depend>rospy</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>eigen</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- You can specify that this package is a metapackage here: -->
<!-- <metapackage/> -->
<!-- Other tools can request additional information be placed here -->
</export>
</package>
src/drivers/ardrone_interface/ardrone_interface.c
+6 -2
View File
@@ -55,6 +55,10 @@
#include <uORB/uORB.h>
#include <uORB/topics/safety.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/vehicle_control_mode.h>
@@ -98,7 +102,7 @@ usage(const char *reason)
* The deamon app only briefly exists to start
* the background job. The stack size assigned in the
* Makefile does only apply to this management task.
*
*
* The actual stack size should be set in the call
* to task_create().
*/
@@ -319,7 +323,7 @@ int ardrone_interface_thread_main(int argc, char *argv[])
/* get a local copy of the actuator controls */
orb_copy(ORB_ID_VEHICLE_ATTITUDE_CONTROLS, actuator_controls_sub, &actuator_controls);
orb_copy(ORB_ID(actuator_armed), armed_sub, &armed);
/* for now only spin if armed and immediately shut down
* if in failsafe
*/
src/drivers/blinkm/blinkm.cpp
+6 -6
View File
@@ -571,7 +571,7 @@ BlinkM::led()
printf("<blinkm> cells found:%d\n", num_of_cells);
} else {
if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_CRITICAL) {
if(vehicle_status_raw.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_CRITICAL) {
/* LED Pattern for battery critical alerting */
led_color_1 = LED_RED;
led_color_2 = LED_RED;
@@ -595,7 +595,7 @@ BlinkM::led()
led_color_8 = LED_BLUE;
led_blink = LED_BLINK;
} else if(vehicle_status_raw.battery_warning == VEHICLE_BATTERY_WARNING_LOW) {
} else if(vehicle_status_raw.battery_warning == vehicle_status_s::VEHICLE_BATTERY_WARNING_LOW) {
/* LED Pattern for battery low warning */
led_color_1 = LED_YELLOW;
led_color_2 = LED_YELLOW;
@@ -647,14 +647,14 @@ BlinkM::led()
if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) {
/* indicate main control state */
if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL)
if (vehicle_status_raw.main_state == vehicle_status_s::MAIN_STATE_POSCTL)
led_color_4 = LED_GREEN;
/* TODO: add other Auto modes */
else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO_MISSION)
else if (vehicle_status_raw.main_state == vehicle_status_s::MAIN_STATE_AUTO_MISSION)
led_color_4 = LED_BLUE;
else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL)
else if (vehicle_status_raw.main_state == vehicle_status_s::MAIN_STATE_ALTCTL)
led_color_4 = LED_YELLOW;
else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL)
else if (vehicle_status_raw.main_state == vehicle_status_s::MAIN_STATE_MANUAL)
led_color_4 = LED_WHITE;
else
led_color_4 = LED_OFF;
src/drivers/boards/px4fmu-v1/board_config.h
-1
View File
@@ -114,7 +114,6 @@ __BEGIN_DECLS
* Note that these are unshifted addresses.
*/
#define PX4_I2C_OBDEV_HMC5883 0x1e
#define PX4_I2C_OBDEV_MS5611 0x76
#define PX4_I2C_OBDEV_EEPROM NOTDEFINED
#define PX4_I2C_OBDEV_LED 0x55
src/drivers/drv_accel.h
+2
View File
@@ -97,6 +97,8 @@ ORB_DECLARE(sensor_accel);
/** set the accel internal sample rate to at least (arg) Hz */
#define ACCELIOCSSAMPLERATE _ACCELIOC(0)
#define ACCEL_SAMPLERATE_DEFAULT 1000003 /**< default sample rate */
/** return the accel internal sample rate in Hz */
#define ACCELIOCGSAMPLERATE _ACCELIOC(1)
src/drivers/drv_gyro.h
+2
View File
@@ -93,6 +93,8 @@ ORB_DECLARE(sensor_gyro);
/** set the gyro internal sample rate to at least (arg) Hz */
#define GYROIOCSSAMPLERATE _GYROIOC(0)
#define GYRO_SAMPLERATE_DEFAULT 1000003 /**< default sample rate */
/** return the gyro internal sample rate in Hz */
#define GYROIOCGSAMPLERATE _GYROIOC(1)
src/drivers/hil/hil.cpp
+12 -10
View File
@@ -75,6 +75,8 @@
#include <systemlib/mixer/mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_outputs.h>
@@ -250,7 +252,7 @@ HIL::task_main_trampoline(int argc, char *argv[])
int
HIL::set_mode(Mode mode)
{
/*
/*
* Configure for PWM output.
*
* Note that regardless of the configured mode, the task is always
@@ -269,19 +271,19 @@ HIL::set_mode(Mode mode)
/* multi-port as 4 PWM outs */
_update_rate = 50; /* default output rate */
break;
case MODE_8PWM:
debug("MODE_8PWM");
/* multi-port as 8 PWM outs */
_update_rate = 50; /* default output rate */
break;
case MODE_12PWM:
debug("MODE_12PWM");
/* multi-port as 12 PWM outs */
_update_rate = 50; /* default output rate */
break;
case MODE_16PWM:
debug("MODE_16PWM");
/* multi-port as 16 PWM outs */
@@ -514,12 +516,12 @@ HIL::pwm_ioctl(file *filp, int cmd, unsigned long arg)
break;
case PWM_SERVO_SET_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate
// HIL always outputs at the alternate (usually faster) rate
g_hil->set_pwm_rate(arg);
break;
case PWM_SERVO_SET_SELECT_UPDATE_RATE:
// HIL always outputs at the alternate (usually faster) rate
// HIL always outputs at the alternate (usually faster) rate
break;
case PWM_SERVO_SET(2):
@@ -660,7 +662,7 @@ int
hil_new_mode(PortMode new_mode)
{
// uint32_t gpio_bits;
// /* reset to all-inputs */
// g_hil->ioctl(0, GPIO_RESET, 0);
@@ -692,17 +694,17 @@ hil_new_mode(PortMode new_mode)
/* select 2-pin PWM mode */
servo_mode = HIL::MODE_2PWM;
break;
case PORT2_8PWM:
/* select 8-pin PWM mode */
servo_mode = HIL::MODE_8PWM;
break;
case PORT2_12PWM:
/* select 12-pin PWM mode */
servo_mode = HIL::MODE_12PWM;
break;
case PORT2_16PWM:
/* select 16-pin PWM mode */
servo_mode = HIL::MODE_16PWM;
src/drivers/l3gd20/l3gd20.cpp
+2 -1
View File
@@ -784,8 +784,9 @@ L3GD20::set_samplerate(unsigned frequency)
{
uint8_t bits = REG1_POWER_NORMAL | REG1_Z_ENABLE | REG1_Y_ENABLE | REG1_X_ENABLE;
if (frequency == 0)
if (frequency == 0 || frequency == GYRO_SAMPLERATE_DEFAULT) {
frequency = _is_l3g4200d ? 800 : 760;
}
/*
* Use limits good for H or non-H models. Rates are slightly different
src/drivers/lsm303d/lsm303d.cpp
+2 -1
View File
@@ -1307,8 +1307,9 @@ LSM303D::accel_set_samplerate(unsigned frequency)
uint8_t setbits = 0;
uint8_t clearbits = REG1_RATE_BITS_A;
if (frequency == 0)
if (frequency == 0 || frequency == ACCEL_SAMPLERATE_DEFAULT) {
frequency = 1600;
}
if (frequency <= 100) {
setbits |= REG1_RATE_100HZ_A;
src/drivers/mkblctrl/mkblctrl.cpp
+1
View File
@@ -74,6 +74,7 @@
#include <drivers/drv_mixer.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/esc_status.h>
src/drivers/mpu6000/mpu6000.cpp
+13 -7
View File
@@ -402,7 +402,7 @@ private:
/*
set sample rate (approximate) - 1kHz to 5Hz
*/
void _set_sample_rate(uint16_t desired_sample_rate_hz);
void _set_sample_rate(unsigned desired_sample_rate_hz);
/*
check that key registers still have the right value
@@ -794,13 +794,19 @@ MPU6000::probe()
set sample rate (approximate) - 1kHz to 5Hz, for both accel and gyro
*/
void
MPU6000::_set_sample_rate(uint16_t desired_sample_rate_hz)
MPU6000::_set_sample_rate(unsigned desired_sample_rate_hz)
{
uint8_t div = 1000 / desired_sample_rate_hz;
if(div>200) div=200;
if(div<1) div=1;
write_checked_reg(MPUREG_SMPLRT_DIV, div-1);
_sample_rate = 1000 / div;
if (desired_sample_rate_hz == 0 ||
desired_sample_rate_hz == GYRO_SAMPLERATE_DEFAULT ||
desired_sample_rate_hz == ACCEL_SAMPLERATE_DEFAULT) {
desired_sample_rate_hz = MPU6000_GYRO_DEFAULT_RATE;
}
uint8_t div = 1000 / desired_sample_rate_hz;
if(div>200) div=200;
if(div<1) div=1;
write_checked_reg(MPUREG_SMPLRT_DIV, div-1);
_sample_rate = 1000 / div;
}
/*
src/drivers/ms5611/ms5611.cpp
+140 -120
View File
@@ -69,6 +69,14 @@
#include "ms5611.h"
enum MS5611_BUS {
MS5611_BUS_ALL = 0,
MS5611_BUS_I2C_INTERNAL,
MS5611_BUS_I2C_EXTERNAL,
MS5611_BUS_SPI_INTERNAL,
MS5611_BUS_SPI_EXTERNAL
};
/* oddly, ERROR is not defined for c++ */
#ifdef ERROR
# undef ERROR
@@ -784,15 +792,38 @@ MS5611::print_info()
namespace ms5611
{
/* initialize explicitely for clarity */
MS5611 *g_dev_ext = nullptr;
MS5611 *g_dev_int = nullptr;
/*
list of supported bus configurations
*/
struct ms5611_bus_option {
enum MS5611_BUS busid;
const char *devpath;
MS5611_constructor interface_constructor;
uint8_t busnum;
MS5611 *dev;
} bus_options[] = {
#if defined(PX4_SPIDEV_EXT_BARO) && defined(PX4_SPI_BUS_EXT)
{ MS5611_BUS_SPI_EXTERNAL, "/dev/ms5611_spi_ext", &MS5611_spi_interface, PX4_SPI_BUS_EXT, NULL },
#endif
#ifdef PX4_SPIDEV_BARO
{ MS5611_BUS_SPI_INTERNAL, "/dev/ms5611_spi_int", &MS5611_spi_interface, PX4_SPI_BUS_SENSORS, NULL },
#endif
#ifdef PX4_I2C_BUS_ONBOARD
{ MS5611_BUS_I2C_INTERNAL, "/dev/ms5611_int", &MS5611_i2c_interface, PX4_I2C_BUS_ONBOARD, NULL },
#endif
#ifdef PX4_I2C_BUS_EXPANSION
{ MS5611_BUS_I2C_EXTERNAL, "/dev/ms5611_ext", &MS5611_i2c_interface, PX4_I2C_BUS_EXPANSION, NULL },
#endif
};
#define NUM_BUS_OPTIONS (sizeof(bus_options)/sizeof(bus_options[0]))
void start(bool external_bus);
void test(bool external_bus);
void reset(bool external_bus);
bool start_bus(struct ms5611_bus_option &bus);
struct ms5611_bus_option &find_bus(enum MS5611_BUS busid);
void start(enum MS5611_BUS busid);
void test(enum MS5611_BUS busid);
void reset(enum MS5611_BUS busid);
void info();
void calibrate(unsigned altitude, bool external_bus);
void calibrate(unsigned altitude, enum MS5611_BUS busid);
void usage();
/**
@@ -845,89 +876,87 @@ crc4(uint16_t *n_prom)
/**
* Start the driver.
*/
void
start(bool external_bus)
bool
start_bus(struct ms5611_bus_option &bus)
{
int fd;
if (bus.dev != nullptr)
errx(1,"bus option already started");
prom_u prom_buf;
if (external_bus && (g_dev_ext != nullptr)) {
/* if already started, the still command succeeded */
errx(0, "ext already started");
} else if (!external_bus && (g_dev_int != nullptr)) {
/* if already started, the still command succeeded */
errx(0, "int already started");
}
device::Device *interface = nullptr;
/* create the driver, try SPI first, fall back to I2C if unsuccessful */
if (MS5611_spi_interface != nullptr)
interface = MS5611_spi_interface(prom_buf, external_bus);
if (interface == nullptr && (MS5611_i2c_interface != nullptr))
interface = MS5611_i2c_interface(prom_buf);
if (interface == nullptr)
errx(1, "failed to allocate an interface");
device::Device *interface = bus.interface_constructor(prom_buf, bus.busnum);
if (interface->init() != OK) {
delete interface;
errx(1, "interface init failed");
warnx("no device on bus %u", (unsigned)bus.busid);
return false;
}
if (external_bus) {
g_dev_ext = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_EXT);
if (g_dev_ext == nullptr) {
delete interface;
errx(1, "failed to allocate driver");
}
if (g_dev_ext->init() != OK)
goto fail;
fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
} else {
g_dev_int = new MS5611(interface, prom_buf, MS5611_BARO_DEVICE_PATH_INT);
if (g_dev_int == nullptr) {
delete interface;
errx(1, "failed to allocate driver");
}
if (g_dev_int->init() != OK)
goto fail;
fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
bus.dev = new MS5611(interface, prom_buf, bus.devpath);
if (bus.dev != nullptr && OK != bus.dev->init()) {
delete bus.dev;
bus.dev = NULL;
return false;
}
int fd = open(bus.devpath, O_RDONLY);
/* set the poll rate to default, starts automatic data collection */
if (fd < 0) {
warnx("can't open baro device");
goto fail;
if (fd == -1) {
errx(1, "can't open baro device");
}
if (ioctl(fd, SENSORIOCSPOLLRATE, SENSOR_POLLRATE_DEFAULT) < 0) {
warnx("failed setting default poll rate");
goto fail;
close(fd);
errx(1, "failed setting default poll rate");
}
close(fd);
return true;
}
/**
* Start the driver.
*
* This function call only returns once the driver
* is either successfully up and running or failed to start.
*/
void
start(enum MS5611_BUS busid)
{
uint8_t i;
bool started = false;
for (i=0; i<NUM_BUS_OPTIONS; i++) {
if (busid == MS5611_BUS_ALL && bus_options[i].dev != NULL) {
// this device is already started
continue;
}
if (busid != MS5611_BUS_ALL && bus_options[i].busid != busid) {
// not the one that is asked for
continue;
}
started |= start_bus(bus_options[i]);
}
if (!started)
errx(1, "driver start failed");
// one or more drivers started OK
exit(0);
}
fail:
if (g_dev_int != nullptr) {
delete g_dev_int;
g_dev_int = nullptr;
}
if (g_dev_ext != nullptr) {
delete g_dev_ext;
g_dev_ext = nullptr;
}
errx(1, "driver start failed");
/**
* find a bus structure for a busid
*/
struct ms5611_bus_option &find_bus(enum MS5611_BUS busid)
{
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
if ((busid == MS5611_BUS_ALL ||
busid == bus_options[i].busid) && bus_options[i].dev != NULL) {
return bus_options[i];
}
}
errx(1,"bus %u not started", (unsigned)busid);
}
/**
@@ -936,20 +965,16 @@ fail:
* and automatic modes.
*/
void
test(bool external_bus)
test(enum MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
struct baro_report report;
ssize_t sz;
int ret;
int fd;
if (external_bus) {
fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
} else {
fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
}
fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
err(1, "open failed (try 'ms5611 start' if the driver is not running)");
@@ -998,6 +1023,7 @@ test(bool external_bus)
warnx("time: %lld", report.timestamp);
}
close(fd);
errx(0, "PASS");
}
@@ -1005,16 +1031,12 @@ test(bool external_bus)
* Reset the driver.
*/
void
reset(bool external_bus)
reset(enum MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
int fd;
if (external_bus) {
fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
} else {
fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
}
fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
err(1, "failed ");
@@ -1033,19 +1055,13 @@ reset(bool external_bus)
void
info()
{
if (g_dev_ext == nullptr && g_dev_int == nullptr)
errx(1, "driver not running");
if (g_dev_ext) {
warnx("ext:");
g_dev_ext->print_info();
for (uint8_t i=0; i<NUM_BUS_OPTIONS; i++) {
struct ms5611_bus_option &bus = bus_options[i];
if (bus.dev != nullptr) {
warnx("%s", bus.devpath);
bus.dev->print_info();
}
}
if (g_dev_int) {
warnx("int:");
g_dev_int->print_info();
}
exit(0);
}
@@ -1053,19 +1069,16 @@ info()
* Calculate actual MSL pressure given current altitude
*/
void
calibrate(unsigned altitude, bool external_bus)
calibrate(unsigned altitude, enum MS5611_BUS busid)
{
struct ms5611_bus_option &bus = find_bus(busid);
struct baro_report report;
float pressure;
float p1;
int fd;
if (external_bus) {
fd = open(MS5611_BARO_DEVICE_PATH_EXT, O_RDONLY);
} else {
fd = open(MS5611_BARO_DEVICE_PATH_INT, O_RDONLY);
}
fd = open(bus.devpath, O_RDONLY);
if (fd < 0)
err(1, "open failed (try 'ms5611 start' if the driver is not running)");
@@ -1120,6 +1133,7 @@ calibrate(unsigned altitude, bool external_bus)
if (ioctl(fd, BAROIOCSMSLPRESSURE, (unsigned long)p1) != OK)
err(1, "BAROIOCSMSLPRESSURE");
close(fd);
exit(0);
}
@@ -1128,7 +1142,10 @@ usage()
{
warnx("missing command: try 'start', 'info', 'test', 'test2', 'reset', 'calibrate'");
warnx("options:");
warnx(" -X (external bus)");
warnx(" -X (external I2C bus)");
warnx(" -I (intternal I2C bus)");
warnx(" -S (external SPI bus)");
warnx(" -s (internal SPI bus)");
}
} // namespace
@@ -1136,14 +1153,23 @@ usage()
int
ms5611_main(int argc, char *argv[])
{
bool external_bus = false;
enum MS5611_BUS busid = MS5611_BUS_ALL;
int ch;
/* jump over start/off/etc and look at options first */
while ((ch = getopt(argc, argv, "X")) != EOF) {
while ((ch = getopt(argc, argv, "XISs")) != EOF) {
switch (ch) {
case 'X':
external_bus = true;
busid = MS5611_BUS_I2C_EXTERNAL;
break;
case 'I':
busid = MS5611_BUS_I2C_INTERNAL;
break;
case 'S':
busid = MS5611_BUS_SPI_EXTERNAL;
break;
case 's':
busid = MS5611_BUS_SPI_INTERNAL;
break;
default:
ms5611::usage();
@@ -1153,29 +1179,23 @@ ms5611_main(int argc, char *argv[])
const char *verb = argv[optind];
if (argc > optind+1) {
if (!strcmp(argv[optind+1], "-X")) {
external_bus = true;
}
}
/*
* Start/load the driver.
*/
if (!strcmp(verb, "start"))
ms5611::start(external_bus);
ms5611::start(busid);
/*
* Test the driver/device.
*/
if (!strcmp(verb, "test"))
ms5611::test(external_bus);
ms5611::test(busid);
/*
* Reset the driver.
*/
if (!strcmp(verb, "reset"))
ms5611::reset(external_bus);
ms5611::reset(busid);
/*
* Print driver information.
@@ -1192,7 +1212,7 @@ ms5611_main(int argc, char *argv[])
long altitude = strtol(argv[optind+1], nullptr, 10);
ms5611::calibrate(altitude, external_bus);
ms5611::calibrate(altitude, busid);
}
errx(1, "unrecognised command, try 'start', 'test', 'reset' or 'info'");
src/drivers/ms5611/ms5611.h
+3 -3
View File
@@ -80,6 +80,6 @@ extern bool crc4(uint16_t *n_prom);
} /* namespace */
/* interface factories */
extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus) weak_function;
extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf) weak_function;
extern device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
extern device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum) weak_function;
typedef device::Device* (*MS5611_constructor)(ms5611::prom_u &prom_buf, uint8_t busnum);
src/drivers/ms5611/ms5611_i2c.cpp
+4 -14
View File
@@ -56,14 +56,6 @@
#include "board_config.h"
#ifdef PX4_I2C_OBDEV_MS5611
#ifndef PX4_I2C_BUS_ONBOARD
#define MS5611_BUS 1
#else
#define MS5611_BUS PX4_I2C_BUS_ONBOARD
#endif
#define MS5611_ADDRESS_1 0x76 /* address select pins pulled high (PX4FMU series v1.6+) */
#define MS5611_ADDRESS_2 0x77 /* address select pins pulled low (PX4FMU prototypes) */
@@ -74,7 +66,7 @@ device::Device *MS5611_i2c_interface(ms5611::prom_u &prom_buf);
class MS5611_I2C : public device::I2C
{
public:
MS5611_I2C(int bus, ms5611::prom_u &prom_buf);
MS5611_I2C(uint8_t bus, ms5611::prom_u &prom_buf);
virtual ~MS5611_I2C();
virtual int init();
@@ -113,12 +105,12 @@ private:
};
device::Device *
MS5611_i2c_interface(ms5611::prom_u &prom_buf)
MS5611_i2c_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
{
return new MS5611_I2C(MS5611_BUS, prom_buf);
return new MS5611_I2C(busnum, prom_buf);
}
MS5611_I2C::MS5611_I2C(int bus, ms5611::prom_u &prom) :
MS5611_I2C::MS5611_I2C(uint8_t bus, ms5611::prom_u &prom) :
I2C("MS5611_I2C", nullptr, bus, 0, 400000),
_prom(prom)
{
@@ -274,5 +266,3 @@ MS5611_I2C::_read_prom()
/* calculate CRC and return success/failure accordingly */
return ms5611::crc4(&_prom.c[0]) ? OK : -EIO;
}
#endif /* PX4_I2C_OBDEV_MS5611 */
src/drivers/ms5611/ms5611_spi.cpp
+13 -12
View File
@@ -60,14 +60,14 @@
#define DIR_WRITE (0<<7)
#define ADDR_INCREMENT (1<<6)
#ifdef PX4_SPIDEV_BARO
#if defined(PX4_SPIDEV_BARO) || defined(PX4_SPIDEV_EXT_BARO)
device::Device *MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus);
class MS5611_SPI : public device::SPI
{
public:
MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf);
MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf);
virtual ~MS5611_SPI();
virtual int init();
@@ -115,20 +115,21 @@ private:
};
device::Device *
MS5611_spi_interface(ms5611::prom_u &prom_buf, bool external_bus)
MS5611_spi_interface(ms5611::prom_u &prom_buf, uint8_t busnum)
{
if (external_bus) {
#ifdef PX4_SPI_BUS_EXT
return new MS5611_SPI(PX4_SPI_BUS_EXT, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
#else
#ifdef PX4_SPI_BUS_EXT
if (busnum == PX4_SPI_BUS_EXT) {
#ifdef PX4_SPIDEV_EXT_BARO
return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_EXT_BARO, prom_buf);
#else
return nullptr;
#endif
} else {
return new MS5611_SPI(PX4_SPI_BUS_SENSORS, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
#endif
}
#endif
return new MS5611_SPI(busnum, (spi_dev_e)PX4_SPIDEV_BARO, prom_buf);
}
MS5611_SPI::MS5611_SPI(int bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
MS5611_SPI::MS5611_SPI(uint8_t bus, spi_dev_e device, ms5611::prom_u &prom_buf) :
SPI("MS5611_SPI", nullptr, bus, device, SPIDEV_MODE3, 11*1000*1000 /* will be rounded to 10.4 MHz */),
_prom(prom_buf)
{
@@ -281,4 +282,4 @@ MS5611_SPI::_transfer(uint8_t *send, uint8_t *recv, unsigned len)
return transfer(send, recv, len);
}
#endif /* PX4_SPIDEV_BARO */
#endif /* PX4_SPIDEV_BARO || PX4_SPIDEV_EXT_BARO */
src/drivers/px4fmu/fmu.cpp
+13 -9
View File
@@ -70,6 +70,10 @@
#include <drivers/drv_rc_input.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
@@ -138,11 +142,11 @@ private:
uint32_t _groups_required;
uint32_t _groups_subscribed;
int _control_subs[NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[NUM_ACTUATOR_CONTROL_GROUPS];
int _control_subs[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
orb_id_t _control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
int _actuator_output_topic_instance;
pollfd _poll_fds[NUM_ACTUATOR_CONTROL_GROUPS];
pollfd _poll_fds[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS];
unsigned _poll_fds_num;
pwm_limit_t _pwm_limit;
@@ -508,7 +512,7 @@ PX4FMU::subscribe()
uint32_t sub_groups = _groups_required & ~_groups_subscribed;
uint32_t unsub_groups = _groups_subscribed & ~_groups_required;
_poll_fds_num = 0;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (sub_groups & (1 << i)) {
warnx("subscribe to actuator_controls_%d", i);
_control_subs[i] = orb_subscribe(_control_topics[i]);
@@ -585,7 +589,7 @@ PX4FMU::task_main()
}
debug("adjusted actuator update interval to %ums", update_rate_in_ms);
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
orb_set_interval(_control_subs[i], update_rate_in_ms);
}
@@ -612,7 +616,7 @@ PX4FMU::task_main()
/* get controls for required topics */
unsigned poll_id = 0;
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
if (_poll_fds[poll_id].revents & POLLIN) {
orb_copy(_control_topics[i], _control_subs[i], &_controls[i]);
@@ -745,7 +749,7 @@ PX4FMU::task_main()
}
for (unsigned i = 0; i < NUM_ACTUATOR_CONTROL_GROUPS; i++) {
for (unsigned i = 0; i < actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS; i++) {
if (_control_subs[i] > 0) {
::close(_control_subs[i]);
_control_subs[i] = -1;
@@ -1142,7 +1146,7 @@ PX4FMU::pwm_ioctl(file *filp, int cmd, unsigned long arg)
* and PWM under control of the flight config
* parameters. Note that this does not allow for
* changing a set of pins to be used for serial on
* FMUv1
* FMUv1
*/
switch (arg) {
case 0:
src/drivers/px4io/px4io.cpp
+23 -3
View File
@@ -75,6 +75,10 @@
#include <systemlib/circuit_breaker.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/actuator_outputs.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/safety.h>
@@ -1199,7 +1203,7 @@ PX4IO::io_set_arming_state()
if (armed.ready_to_arm) {
set |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
} else {
clear |= PX4IO_P_SETUP_ARMING_IO_ARM_OK;
}
@@ -2585,7 +2589,7 @@ PX4IO::ioctl(file * filep, int cmd, unsigned long arg)
case PWM_SERVO_SET_RC_CONFIG: {
/* enable setting of RC configuration without relying
on param_get()
on param_get()
*/
struct pwm_output_rc_config* config = (struct pwm_output_rc_config*)arg;
if (config->channel >= RC_INPUT_MAX_CHANNELS) {
@@ -3267,7 +3271,23 @@ px4io_main(int argc, char *argv[])
exit(0);
}
if (!strcmp(argv[1], "safety_off")) {
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_OFF, 0);
if (ret != OK) {
printf("failed to disable safety\n");
exit(1);
}
exit(0);
}
if (!strcmp(argv[1], "safety_on")) {
int ret = g_dev->ioctl(NULL, PWM_SERVO_SET_FORCE_SAFETY_ON, 0);
if (ret != OK) {
printf("failed to enable safety\n");
exit(1);
}
exit(0);
}
if (!strcmp(argv[1], "recovery")) {
@@ -3396,6 +3416,6 @@ px4io_main(int argc, char *argv[])
out:
errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug <level>',\n"
"'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc',\n"
"'recovery', 'limit <rate>', 'current', 'bind', 'checkcrc', 'safety_on', 'safety_off',\n"
"'forceupdate', 'update', 'sbus1_out', 'sbus2_out', 'rssi_analog' or 'rssi_pwm'");
}
src/drivers/roboclaw/RoboClaw.cpp
+9 -8
View File
@@ -54,6 +54,7 @@
#include <mavlink/mavlink_log.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/debug_key_value.h>
#include <drivers/drv_hrt.h>
@@ -65,7 +66,7 @@ RoboClaw::RoboClaw(const char *deviceName, uint16_t address,
_pulsesPerRev(pulsesPerRev),
_uart(0),
_controlPoll(),
_actuators(NULL, ORB_ID(actuator_controls_0), 20),
_actuators(ORB_ID(actuator_controls_0), 20),
_motor1Position(0),
_motor1Speed(0),
_motor1Overflow(0),
@@ -114,7 +115,7 @@ int RoboClaw::readEncoder(e_motor motor)
uint8_t rbuf[50];
usleep(5000);
int nread = read(_uart, rbuf, 50);
if (nread < 6) {
if (nread < 6) {
printf("failed to read\n");
return -1;
}
@@ -131,7 +132,7 @@ int RoboClaw::readEncoder(e_motor motor)
countBytes[0] = rbuf[3];
uint8_t status = rbuf[4];
uint8_t checksum = rbuf[5];
uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) &
uint8_t checksum_computed = (sum + _sumBytes(rbuf, 5)) &
checksum_mask;
// check if checksum is valid
if (checksum != checksum_computed) {
@@ -156,11 +157,11 @@ int RoboClaw::readEncoder(e_motor motor)
static int64_t overflowAmount = 0x100000000LL;
if (motor == MOTOR_1) {
_motor1Overflow += overFlow;
_motor1Position = float(int64_t(count) +
_motor1Position = float(int64_t(count) +
_motor1Overflow*overflowAmount)/_pulsesPerRev;
} else if (motor == MOTOR_2) {
_motor2Overflow += overFlow;
_motor2Position = float(int64_t(count) +
_motor2Position = float(int64_t(count) +
_motor2Overflow*overflowAmount)/_pulsesPerRev;
}
return 0;
@@ -242,7 +243,7 @@ int RoboClaw::setMotorDutyCycle(e_motor motor, float value)
return -1;
}
int RoboClaw::resetEncoders()
int RoboClaw::resetEncoders()
{
uint16_t sum = 0;
return _sendCommand(CMD_RESET_ENCODERS,
@@ -278,7 +279,7 @@ uint16_t RoboClaw::_sumBytes(uint8_t * buf, size_t n)
return sum;
}
int RoboClaw::_sendCommand(e_command cmd, uint8_t * data,
int RoboClaw::_sendCommand(e_command cmd, uint8_t * data,
size_t n_data, uint16_t & prev_sum)
{
tcflush(_uart, TCIOFLUSH); // flush buffers
@@ -299,7 +300,7 @@ int RoboClaw::_sendCommand(e_command cmd, uint8_t * data,
return write(_uart, buf, n_data + 3);
}
int roboclawTest(const char *deviceName, uint8_t address,
int roboclawTest(const char *deviceName, uint8_t address,
uint16_t pulsesPerRev)
{
printf("roboclaw test: starting\n");
src/examples/fixedwing_control/main.c
+12 -8
View File
@@ -61,6 +61,10 @@
#include <uORB/topics/vehicle_attitude_setpoint.h>
#include <uORB/topics/manual_control_setpoint.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/topics/vehicle_rates_setpoint.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/parameter_update.h>
@@ -108,7 +112,7 @@ static void usage(const char *reason);
* @param att The current attitude. The controller should make the attitude match the setpoint
* @param rates_sp The angular rate setpoint. This is the output of the controller.
*/
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators);
/**
@@ -133,18 +137,18 @@ static int deamon_task; /**< Handle of deamon task / thread */
static struct params p;
static struct param_handles ph;
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
void control_attitude(const struct vehicle_attitude_setpoint_s *att_sp, const struct vehicle_attitude_s *att, struct vehicle_rates_setpoint_s *rates_sp,
struct actuator_controls_s *actuators)
{
/*
/*
* The PX4 architecture provides a mixer outside of the controller.
* The mixer is fed with a default vector of actuator controls, representing
* moments applied to the vehicle frame. This vector
* is structured as:
*
* Control Group 0 (attitude):
*
*
* 0 - roll (-1..+1)
* 1 - pitch (-1..+1)
* 2 - yaw (-1..+1)
@@ -226,7 +230,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
*
* Wikipedia description:
* http://en.wikipedia.org/wiki/Publish–subscribe_pattern
*
*
*/
@@ -234,7 +238,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
/*
* Declare and safely initialize all structs to zero.
*
*
* These structs contain the system state and things
* like attitude, position, the current waypoint, etc.
*/
@@ -300,7 +304,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
if (ret < 0) {
/*
* Poll error, this will not really happen in practice,
* but its good design practice to make output an error message.
* but its good design practice to make output an error message.
*/
warnx("poll error");
@@ -340,7 +344,7 @@ int fixedwing_control_thread_main(int argc, char *argv[])
}
if (manual_sp_updated)
/* get the RC (or otherwise user based) input */
/* get the RC (or otherwise user based) input */
orb_copy(ORB_ID(manual_control_setpoint), manual_sp_sub, &manual_sp);
/* check if the throttle was ever more than 50% - go later only to failsafe if yes */
src/examples/flow_position_estimator/flow_position_estimator_main.c
+2 -1
View File
@@ -67,6 +67,7 @@
#include <systemlib/perf_counter.h>
#include <systemlib/systemlib.h>
#include <poll.h>
#include <platforms/px4_defines.h>
#include "flow_position_estimator_params.h"
@@ -337,7 +338,7 @@ int flow_position_estimator_thread_main(int argc, char *argv[])
{
float sum = 0.0f;
for(uint8_t j = 0; j < 3; j++)
sum = sum + speed[j] * att.R[i][j];
sum = sum + speed[j] * PX4_R(att.R, i, j);
global_speed[i] = sum;
}
src/examples/hwtest/hwtest.c
+4
View File
@@ -47,6 +47,10 @@
#include <systemlib/err.h>
#include <uORB/topics/actuator_armed.h>
#include <uORB/topics/actuator_controls.h>
#include <uORB/topics/actuator_controls_0.h>
#include <uORB/topics/actuator_controls_1.h>
#include <uORB/topics/actuator_controls_2.h>
#include <uORB/topics/actuator_controls_3.h>
#include <uORB/uORB.h>
__EXPORT int ex_hwtest_main(int argc, char *argv[]);
src/examples/publisher/module.mk
+44
View File
@@ -0,0 +1,44 @@
############################################################################
#
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Publisher Example Application
#
MODULE_COMMAND = publisher
SRCS = publisher_main.cpp \
publisher_start_nuttx.cpp \
publisher_example.cpp
MODULE_STACKSIZE = 1200
src/examples/publisher/publisher_example.cpp
+83
View File
@@ -0,0 +1,83 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file publisher_example.cpp
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "publisher_example.h"
using namespace px4;
PublisherExample::PublisherExample() :
_n(),
_rc_channels_pub(_n.advertise<px4_rc_channels>()),
_v_att_pub(_n.advertise<px4_vehicle_attitude>()),
_parameter_update_pub(_n.advertise<px4_parameter_update>())
{
}
int PublisherExample::main()
{
px4::Rate loop_rate(10);
while (px4::ok()) {
loop_rate.sleep();
_n.spinOnce();
/* Publish example message */
px4_rc_channels rc_channels_msg;
rc_channels_msg.data().timestamp_last_valid = px4::get_time_micros();
PX4_INFO("rc: %llu", rc_channels_msg.data().timestamp_last_valid);
_rc_channels_pub->publish(rc_channels_msg);
/* Publish example message */
px4_vehicle_attitude v_att_msg;
v_att_msg.data().timestamp = px4::get_time_micros();
PX4_INFO("att: %llu", v_att_msg.data().timestamp);
_v_att_pub->publish(v_att_msg);
/* Publish example message */
px4_parameter_update parameter_update_msg;
parameter_update_msg.data().timestamp = px4::get_time_micros();
PX4_INFO("param update: %llu", parameter_update_msg.data().timestamp);
_parameter_update_pub->publish(parameter_update_msg);
}
return 0;
}
src/examples/publisher/publisher_example.h
+55
View File
@@ -0,0 +1,55 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file publisher.h
* Example publisher for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#pragma once
#include <px4.h>
class PublisherExample {
public:
PublisherExample();
~PublisherExample() {};
int main();
protected:
px4::NodeHandle _n;
px4::Publisher<px4::px4_rc_channels> * _rc_channels_pub;
px4::Publisher<px4::px4_vehicle_attitude> * _v_att_pub;
px4::Publisher<px4::px4_parameter_update> * _parameter_update_pub;
};
src/examples/publisher/publisher_main.cpp
+56
View File
@@ -0,0 +1,56 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file publisher_main.cpp
* Example publisher for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "publisher_example.h"
bool thread_running = false; /**< Deamon status flag */
int main(int argc, char **argv)
{
px4::init(argc, argv, "publisher");
PX4_INFO("starting");
PublisherExample p;
thread_running = true;
p.main();
PX4_INFO("exiting.");
thread_running = false;
return 0;
}
src/examples/publisher/publisher_start_nuttx.cpp
+99
View File
@@ -0,0 +1,99 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file publisher_start_nuttx.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <cstdlib>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
extern bool thread_running;
int daemon_task; /**< Handle of deamon task / thread */
namespace px4
{
bool task_should_exit = false;
}
using namespace px4;
extern int main(int argc, char **argv);
extern "C" __EXPORT int publisher_main(int argc, char *argv[]);
int publisher_main(int argc, char *argv[])
{
if (argc < 1) {
errx(1, "usage: publisher {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
exit(0);
}
task_should_exit = false;
daemon_task = task_spawn_cmd("publisher",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
main,
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
task_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("is running");
} else {
warnx("not started");
}
exit(0);
}
warnx("unrecognized command");
return 1;
}
src/examples/subscriber/module.mk
+45
View File
@@ -0,0 +1,45 @@
############################################################################
#
# Copyright (c) 2014 PX4 Development Team. All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# 1. Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# 2. Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in
# the documentation and/or other materials provided with the
# distribution.
# 3. Neither the name PX4 nor the names of its contributors may be
# used to endorse or promote products derived from this software
# without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
#
############################################################################
#
# Subscriber Example Application
#
MODULE_COMMAND = subscriber
SRCS = subscriber_main.cpp \
subscriber_start_nuttx.cpp \
subscriber_example.cpp \
subscriber_params.c
MODULE_STACKSIZE = 2400
src/examples/subscriber/subscriber_example.cpp
+105
View File
@@ -0,0 +1,105 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file subscriber_example.cpp
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "subscriber_params.h"
#include "subscriber_example.h"
using namespace px4;
void rc_channels_callback_function(const px4_rc_channels &msg) {
PX4_INFO("I heard: [%llu]", msg.data().timestamp_last_valid);
}
SubscriberExample::SubscriberExample() :
_n(),
_p_sub_interv(PX4_PARAM_INIT(SUB_INTERV)),
_interval(0),
_p_test_float(PX4_PARAM_INIT(SUB_TESTF)),
_test_float(0.0f)
{
/* Read the parameter back as example */
PX4_PARAM_GET(_p_sub_interv, &_interval);
PX4_INFO("Param SUB_INTERV = %d", _interval);
PX4_PARAM_GET(_p_test_float, &_test_float);
PX4_INFO("Param SUB_TESTF = %.3f", (double)_test_float);
/* Do some subscriptions */
/* Function */
_n.subscribe<px4_rc_channels>(rc_channels_callback_function, _interval);
/* No callback */
_sub_rc_chan = _n.subscribe<px4_rc_channels>(500);
/* Class method */
_n.subscribe<px4_rc_channels>(&SubscriberExample::rc_channels_callback, this, 1000);
/* Another class method */
_n.subscribe<px4_vehicle_attitude>(&SubscriberExample::vehicle_attitude_callback, this, 1000);
/* Yet antoher class method */
_n.subscribe<px4_parameter_update>(&SubscriberExample::parameter_update_callback, this, 1000);
PX4_INFO("subscribed");
}
/**
* This tutorial demonstrates simple receipt of messages over the PX4 middleware system.
* Also the current value of the _sub_rc_chan subscription is printed
*/
void SubscriberExample::rc_channels_callback(const px4_rc_channels &msg) {
PX4_INFO("rc_channels_callback (method): [%llu]",
msg.data().timestamp_last_valid);
PX4_INFO("rc_channels_callback (method): value of _sub_rc_chan: [%llu]",
_sub_rc_chan->data().timestamp_last_valid);
}
void SubscriberExample::vehicle_attitude_callback(const px4_vehicle_attitude &msg) {
PX4_INFO("vehicle_attitude_callback (method): [%llu]",
msg.data().timestamp);
}
void SubscriberExample::parameter_update_callback(const px4_parameter_update &msg) {
PX4_INFO("parameter_update_callback (method): [%llu]",
msg.data().timestamp);
PX4_PARAM_GET(_p_sub_interv, &_interval);
PX4_INFO("Param SUB_INTERV = %d", _interval);
PX4_PARAM_GET(_p_test_float, &_test_float);
PX4_INFO("Param SUB_TESTF = %.3f", (double)_test_float);
}
src/examples/subscriber/subscriber_example.h
+65
View File
@@ -0,0 +1,65 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file subscriber_example.h
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <px4.h>
using namespace px4;
void rc_channels_callback_function(const px4_rc_channels &msg);
class SubscriberExample {
public:
SubscriberExample();
~SubscriberExample() {};
void spin() {_n.spin();}
protected:
px4::NodeHandle _n;
px4_param_t _p_sub_interv;
int32_t _interval;
px4_param_t _p_test_float;
float _test_float;
px4::Subscriber<px4_rc_channels> * _sub_rc_chan;
void rc_channels_callback(const px4_rc_channels &msg);
void vehicle_attitude_callback(const px4_vehicle_attitude &msg);
void parameter_update_callback(const px4_parameter_update &msg);
};
src/examples/subscriber/subscriber_main.cpp
+55
View File
@@ -0,0 +1,55 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file subscriber_main.cpp
* Example subscriber for ros and px4
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include "subscriber_example.h"
bool thread_running = false; /**< Deamon status flag */
int main(int argc, char **argv)
{
px4::init(argc, argv, "subscriber");
PX4_INFO("starting");
SubscriberExample s;
thread_running = true;
s.spin();
PX4_INFO("exiting.");
thread_running = false;
return 0;
}
src/modules/uORB/topics/vehicle_global_velocity_setpoint.h → src/examples/subscriber/subscriber_params.c
+15 -22
View File
@@ -1,7 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
* Author: @author Anton Babushkin <anton.babushkin@me.com>
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -33,31 +32,25 @@
****************************************************************************/
/**
* @file vehicle_global_velocity_setpoint.h
* Definition of the global velocity setpoint uORB topic.
* @file subscriber_params.c
* Parameters for the subscriber example
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
#define TOPIC_VEHICLE_GLOBAL_VELOCITY_SETPOINT_H_
#include "../uORB.h"
#include <px4_defines.h>
#include "subscriber_params.h"
/**
* @addtogroup topics
* @{
* Interval of one subscriber in the example in ms
*
* @group Subscriber Example
*/
struct vehicle_global_velocity_setpoint_s {
float vx; /**< in m/s NED */
float vy; /**< in m/s NED */
float vz; /**< in m/s NED */
}; /**< Velocity setpoint in NED frame */
PX4_PARAM_DEFINE_INT32(SUB_INTERV);
/**
* @}
* Float Demonstration Parameter in the Example
*
* @group Subscriber Example
*/
/* register this as object request broker structure */
ORB_DECLARE(vehicle_global_velocity_setpoint);
#endif
PX4_PARAM_DEFINE_FLOAT(SUB_TESTF);
src/examples/subscriber/subscriber_params.h
+43
View File
@@ -0,0 +1,43 @@
/****************************************************************************
*
* Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file subscriber_params.h
* Default parameters for the subscriber example
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#pragma once
#define PARAM_SUB_INTERV_DEFAULT 100
#define PARAM_SUB_TESTF_DEFAULT 3.14f
src/examples/subscriber/subscriber_start_nuttx.cpp
+99
View File
@@ -0,0 +1,99 @@
/****************************************************************************
*
* Copyright (C) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file subscriber_start_nuttx.cpp
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#include <string.h>
#include <cstdlib>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
extern bool thread_running;
int daemon_task; /**< Handle of deamon task / thread */
namespace px4
{
bool task_should_exit = false;
}
using namespace px4;
extern int main(int argc, char **argv);
extern "C" __EXPORT int subscriber_main(int argc, char *argv[]);
int subscriber_main(int argc, char *argv[])
{
if (argc < 1) {
errx(1, "usage: subscriber {start|stop|status}");
}
if (!strcmp(argv[1], "start")) {
if (thread_running) {
warnx("already running");
/* this is not an error */
exit(0);
}
task_should_exit = false;
daemon_task = task_spawn_cmd("subscriber",
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 5,
2000,
main,
(argv) ? (char* const*)&argv[2] : (char* const*)NULL);
exit(0);
}
if (!strcmp(argv[1], "stop")) {
task_should_exit = true;
exit(0);
}
if (!strcmp(argv[1], "status")) {
if (thread_running) {
warnx("is running");
} else {
warnx("not started");
}
exit(0);
}
warnx("unrecognized command");
return 1;
}
src/include/px4.h
+48
View File
@@ -0,0 +1,48 @@
/****************************************************************************
*
* Copyright (c) 2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file px4.h
*
* Main system header with common convenience functions
*/
#pragma once
#include "../platforms/px4_includes.h"
#include "../platforms/px4_defines.h"
#ifdef __cplusplus
#include "../platforms/px4_middleware.h"
#include "../platforms/px4_nodehandle.h"
#include "../platforms/px4_subscriber.h"
#endif
src/lib/geo/geo.h
+1 -4
View File
@@ -44,10 +44,7 @@
*/
#pragma once
#include "uORB/topics/fence.h"
#include "uORB/topics/vehicle_global_position.h"
#include <platforms/px4_defines.h>
__BEGIN_DECLS
#include "geo_lookup/geo_mag_declination.h"

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